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Raw output: neo_controller.c
+0001: # _____ __
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0002: # ___ | / /__________
0003: # __ |/ /_ _ \ __ \
0004: # _ /| / / __/ /_/ /
0005: # /_/ |_/ \___/\____/
0006:
0007: # Kessler Controller
0008: # Jie Fan (jie.f@pm.me)
0009:
0010: # This controller file needs to be compiled with Cython, into a C extension module to be imported into a Python script
0011:
0012: # TODO: Show stats at the end
0013: # DONE: Verify that frontrun protection's working (shot stealing protection), because it still feels like it's not totally working!
0014: # DONE: Make it so during a respawn maneuver, if I'm no longer gonna hit anything, I can begin to shoot!
0015: # TODO: Use the tolerance in the shot for the target selection so I don't just aim for the center all the time
0016: # KINDA DONE: Add error handling as a catch-all
0017: # TODO: Analyze each base state, and store analysis results. Like the heuristic FIS, except use more random search. Density affects the movement speed and cruise timesteps. Tune stuff much better.
0018: # TODO: Add error checks, so that if Neo thinks its done but there's still asteroids left, it'll realize that and re-ingest the updated state and finish off its job. This should NEVER happen though, but in the 1/1000000 chance a new bug happens during the competition, this would catch it.
0019: # DONE: Tune gc to maybe speed stuff up
0020: # DONE: Match collision checks with Kessler, including <= vs <
0021: # DONE: Add iteration boosting algorithm to do more iterations in critical moments
0022: # DONE: If we're chilling, have mines and lives, go and do some damage!
0023: # WON'T FIX: Optimally, the target selection will consider mines blowing up asteroids, and having forecasted asteroids there. But this is a super specific condition and it's very complex to implement correctly, so maybe let's just skip this lol. It's probably not worth spending 50 hours implementing something that will rarely come up, and there's plenty of other asteroids I can shoot, and not just ones coming off of a mine blast.
0024: # WON'T FIX: Remove unnecessary class attributes such as ship thrust range, asteroid mass, to speed up class creation and copying
0025: # DONE: Differentiate between my mine and adversary's mine, to know whether to shoot size 1's or not
0026: # TODO: Mine FIS currently doesn't take into account if an asteroid will ALREADY get hit by a mine, and drop another one anyway
0027: # DONE: When validating a sim is good when there's another ship, make sure the shots hit! The other ship might have shot those asteroids already.
0028: # DONE: Try a wider random search for maneuvers
0029: # KINDA DONE: GA to beat the random maneuver search, and narrow down the search space. In crowded areas, don't cruise for as long, for example!
0030: # TRIED, not faster: Add per-timestep velocities to asteroids and bullets and stuff to save a multiplication
0031: # TODO: Revisit the aimbot and improve things more
0032: # NO NEED TO FIX because Kessler changed it so that it'll wait out the bullet, as long as there's still time remaining: If we're gonna die and we're the only ship left, don't shoot a bullet if it doesn't land before I die, because it'll count as a miss
0033: # EHH WON'T MAKE THIS CHANGE BECAUSE IT'S KINDA BAD AND COMPLEX: Use math to see how the bullet lines up with the asteroid, to predict whether it's gonna hit before doing the bullet sim
0034: # DONE: get_next_extrapolated_asteroid_collision_time doesn't handle the edges properly! Collisions can't go through the edge but this can predict that. Do the checks!
0035: # DONE: Improve targeting during maneuvers to maintain random maneuvers. Each sim should target differently, not just always aim at the closest asteroid! But we need to maintain cohesion in the targets from one iteration to the next, so Neo doesn't switch targets randomly within the sim.
0036: # PROBABLY NOT WORTH ADDING: Add corner camping hardcoded logic
0037: # PROBABLY NOT WORTH ADDING: Add closing ring freezing
0038:
0039:
0040: # POST-XFC 2024 IMPROVEMENT IDEAS:
0041: # DONE (I THINK): Make it so that if the other ship steals my shots, I realize sooner and avoid shooting.
0042: # Currently Neo takes up to 2 planning periods to realize, but if I do a second pass check of the planned actions and make sure all shots land,
0043: # then I can reduce this down to up to 1 planning period of delay. Neo can be only 96% accurate with a good adversary, so hopefully this can be bumped to like 98%.
0044: # This is VERY important in scenarios with a bullet limit since a missed shot is a missed point
0045:
0046: # DONE: Inspired by OMUlettes taking out the Fuzzifiers by crashing into them, I want to implement the following hard-coded logic:
0047: # if the other ship is on its last life and I have at least 2 lives:
0048: # SLAM INTO THE OTHER SHIP AND TAKE THEIR LAST LIFE
0049:
0050: # TODO: Improve avoiding shooting size-1 asteroids within the blast radius of my own mine.
0051: # Currently it avoids targeting these, but it could still accidentally hit such asteroids in the way of their intended target
0052:
0053: # DONE: Improve handling low bullet limits. Currently Neo just kinda chills and doesn't use its remaining mines effectively.
0054: # Improving its behavior here can help get a bit more score. Even sacrificing lives to get a couple more hits could be a good strat.
0055:
0056: # TODO: Ration mines better. Some scenarios Neo uses them too sparingly, and sometimes it dumps them all at the start, and doesn't have any left to use.
0057: # The former is a larger issue. If there's only 3 seconds left, Neo can dump a mine and it could get a few more hits at basically zero cost
0058: # The rationing issue might be solvable by scaling up and down what is considered a good number of asteroids within a blast radius. Currently these are hardcoded.
0059:
0060: # DONE: Print out a build date at the start of each run, so during the competition I can make sure the correct version of my controller is run.
0061:
0062: # WON'T FIX: Remove my training wheels artificial limitation of placing mines 3 seconds apart.
0063: # I can place them as low as 1 second apart, so removing this might add more strategic options.
0064: # But this will also give Neo more opportunities to bomb itself, so this is hard to implement well.
0065:
0066: # TODO: Consider the time limit better, and adapt my strategy based on that. Currently it's not considered (other than avoiding shooting a bullet that won't land before the time's up).
0067: # For example, if there's a very long time limit and I have unlimited bullets, then I probably want to focus on killing the other ship first.
0068: # Otherwise if there's a short time limit, I shouldn't waste time killing the other ship because even if I do,
0069: # I don't have time to hit all the asteroids myself, and it's better to just shoot asteroids and trust that I'm gaining score quicker than the other team is able to gain score,
0070: # or at least I'm no worse than the other team
0071:
0072: # DONE: Investigate why Neo just stayed on top of the mine near the end of the scenario for the closing double rings scenario
0073:
0074: # DONE: Don't place a mine if it can't explode before the time runs out
0075:
0076: # DONE: Dump mines if it can hit stuff right before the end of the scenario
0077:
0078: # DONE: Check for time running out condition to handle stuff like that better
0079:
0080: # cython: language_level=3
0081: from libc.math cimport sin, cos, sqrt, fabs, atan2, acos, asin, pi, NAN, INFINITY, isnan, isinf, copysign, exp
+0082: from math import ceil, floor
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0083: from libc.stdint cimport int64_t
0084: ctypedef double float64_t
+0085: import math
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0086: cimport cython
0087:
0088:
0089:
0090:
+0091: import bisect
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+0092: import gc
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+0093: import math
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+0094: import random
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+0095: import time
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+0096: from immutabledict import immutabledict
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+0097: from collections import deque
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+0098: from functools import lru_cache
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+0099: from itertools import chain
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0100: #from math import acos, asin, atan2, ceil, cos, exp, floor, inf, isinf, isnan, nan, pi, sin, sqrt, copysign
+0101: from typing import Any, Final, Optional, Sequence, TypedDict, cast
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0102:
+0103: import matplotlib.patches as patches # type: ignore[import-untyped]
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+0104: import matplotlib.pyplot as plt # type: ignore[import-untyped]
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+0105: from numpy import arange, fmax, linspace, vectorize
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0106: #from mypy_extensions import i64
+0107: from skfuzzy import control, trimf # type: ignore[import-untyped]
__pyx_t_3 = __Pyx_PyList_Pack(2, __pyx_mstate_global->__pyx_n_u_control, __pyx_mstate_global->__pyx_n_u_trimf); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_2 = __Pyx_Import(__pyx_mstate_global->__pyx_n_u_skfuzzy, __pyx_t_3, 0); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_3 = __Pyx_ImportFrom(__pyx_t_2, __pyx_mstate_global->__pyx_n_u_control); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_control, __pyx_t_3) < 0) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __pyx_t_3 = __Pyx_ImportFrom(__pyx_t_2, __pyx_mstate_global->__pyx_n_u_trimf); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_trimf, __pyx_t_3) < 0) __PYX_ERR(0, 107, __pyx_L1_error) __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0;
0108:
0109: #from src.kesslergame import KesslerController # type: ignore[import-untyped]
0110: #from kesslergame import KesslerController # type: ignore[import-untyped]
0111:
0112: # IMPORTANT: if multiple scenarios are run back-to-back, this controller doesn't get freshly initialized in the subsequent runs.
0113: # If any global variables are changed during execution, make sure to reset them when the timestep is 0.
0114:
0115: #BUILD_NUMBER: Final = "2024-06-17 Neo - Jie Fan (jie.f@pm.me)"
0116:
0117: # Output config
+0118: DEBUG_MODE: Final[bool] = False
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_DEBUG_MODE, Py_False) < 0) __PYX_ERR(0, 118, __pyx_L1_error)
+0119: PRINT_EXPLANATIONS: Final[bool] = False
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_PRINT_EXPLANATIONS, Py_False) < 0) __PYX_ERR(0, 119, __pyx_L1_error)
+0120: EXPLANATION_MESSAGE_SILENCE_INTERVAL_S: Final[float] = 2.0 # Repeated messages within this time window get silenced
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_EXPLANATION_MESSAGE_SILENCE_INTE, __pyx_mstate_global->__pyx_float_2_0) < 0) __PYX_ERR(0, 120, __pyx_L1_error)
0121:
0122: # These can trade off to get better performance at the expense of safety
0123: # TRUE FOR COMPETITION, inexpensive
+0124: STATE_CONSISTENCY_CHECK_AND_RECOVERY = True # Enable this if we want to be able to recover from controller exceptions
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_STATE_CONSISTENCY_CHECK_AND_RECO, Py_True) < 0) __PYX_ERR(0, 124, __pyx_L1_error)
0125: # TRUE FOR COMPETITION, inexpensive
+0126: CLEAN_UP_STATE_FOR_SUBSEQUENT_SCENARIO_RUNS = True # If NeoController is only instantiated once and run through multiple scenarios, this must be on!
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_CLEAN_UP_STATE_FOR_SUBSEQUENT_SC, Py_True) < 0) __PYX_ERR(0, 126, __pyx_L1_error)
0127: # FALSE FOR COMPETITION, slight performance hit
+0128: ENABLE_SANITY_CHECKS: Final[bool] = False # Miscellaneous sanity checks throughout the code
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS, Py_False) < 0) __PYX_ERR(0, 128, __pyx_L1_error)
0129: # TRUE FOR COMPETITION, performance boost
+0130: PRUNE_SIM_STATE_SEQUENCE: Final[bool] = True # Good to have on, because we don't really need the full state
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_PRUNE_SIM_STATE_SEQUENCE, Py_True) < 0) __PYX_ERR(0, 130, __pyx_L1_error)
0131: # FALSE FOR COMPETITION, slight performance hit
+0132: VALIDATE_SIMULATED_KEY_STATES: Final[bool] = False # Check for desyncs between Kessler and Neo's internal simulation of the game
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VALIDATE_SIMULATED_KEY_STATES, Py_False) < 0) __PYX_ERR(0, 132, __pyx_L1_error)
0133: # FALSE FOR COMPETITION, major performance hit
+0134: VALIDATE_ALL_SIMULATED_STATES: Final[bool] = False # Super meticulous check for desyncs. This is very slow! Not recommended, since just verifying the key states will catch desyncs eventually. This is only good for if you need to know exactly when the desync occurred.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VALIDATE_ALL_SIMULATED_STATES, Py_False) < 0) __PYX_ERR(0, 134, __pyx_L1_error)
0135: # FALSE FOR COMPETITION, major performance hit
+0136: VERIFY_AST_TRACKING: Final[bool] = False # I'm using a very error prone way to track asteroids, where I very easily get the time of the asteroid wrong. This will check to make sure the times aren't mismatched, by checking whether the asteroid we're looking for appears in the wrong timestep.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_VERIFY_AST_TRACKING, Py_False) < 0) __PYX_ERR(0, 136, __pyx_L1_error)
0137:
+0138: RESEED_RNG: Final[bool] = True # If the random seed was set outside of Neo, this will reseed the RNG to ensure good randomness
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_RESEED_RNG, Py_True) < 0) __PYX_ERR(0, 138, __pyx_L1_error)
0139:
0140: # Strategic variables
+0141: END_OF_SCENARIO_DONT_CARE_TIMESTEPS: Final[int] = 8
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_END_OF_SCENARIO_DONT_CARE_TIMEST, __pyx_mstate_global->__pyx_int_8) < 0) __PYX_ERR(0, 141, __pyx_L1_error)
+0142: ADVERSARY_ROTATION_TIMESTEP_FUDGE: Final[int] = 20 # Since we can't predict the adversary ship, in the targetting frontrun protection, fudge the adversary's ship to be more conservative. Since we predict they don't move, but they could be aiming toward the target.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_ADVERSARY_ROTATION_TIMESTEP_FUDG, __pyx_mstate_global->__pyx_int_20) < 0) __PYX_ERR(0, 142, __pyx_L1_error)
0143: # TODO: Actually wait, doesn't the rotation timestep fudge just need to be 5, because each stationary targetting is just 5 timesteps long? So using 20 may be overkill!
+0144: UNWRAP_ASTEROID_COLLISION_FORECAST_TIME_HORIZON: Final[float] = 8.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_UNWRAP_ASTEROID_COLLISION_FORECA, __pyx_mstate_global->__pyx_float_8_0) < 0) __PYX_ERR(0, 144, __pyx_L1_error)
+0145: UNWRAP_ASTEROID_TARGET_SELECTION_TIME_HORIZON: Final[float] = 2.3 # The upper bound would be sqrt(1000.0**2 + 800.0**2)/800.0 + 1.0 = 2.600781059358212 s, which is 1 second to turn and the rest for bullet travel time. But this is the worst case scenario. In most cases, we don't need this much.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_UNWRAP_ASTEROID_TARGET_SELECTION, __pyx_mstate_global->__pyx_float_2_3) < 0) __PYX_ERR(0, 145, __pyx_L1_error)
+0146: ASTEROID_SIZE_SHOT_PRIORITY: Final = (NAN, 1, 2, 3, 4) # Index i holds the priority of shooting an asteroid of size i (the first element is not important)
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+0147: fitness_function_weights: Optional[tuple[float, float, float, float, float, float, float, float, float]] = None
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_fitness_function_weights, Py_None) < 0) __PYX_ERR(0, 147, __pyx_L1_error)
+0148: MINE_DROP_COOLDOWN_FUDGE_TS: Final[int] = 61 # We can drop a mine every 30 timesteps. But it's better to wait a bit longer between mines, so then if I drop two and the first one blows me up, I have time to get out of the radius of the second blast!
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_DROP_COOLDOWN_FUDGE_TS, __pyx_mstate_global->__pyx_int_61) < 0) __PYX_ERR(0, 148, __pyx_L1_error)
+0149: MINE_ASTEROID_COUNT_FUDGE_DISTANCE: Final[float] = 50.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_ASTEROID_COUNT_FUDGE_DISTAN, __pyx_mstate_global->__pyx_float_50_0) < 0) __PYX_ERR(0, 149, __pyx_L1_error)
+0150: MINE_OPPORTUNITY_CHECK_INTERVAL_TS: Final[int] = 10
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+0151: MINE_OTHER_SHIP_RADIUS_FUDGE: Final[float] = 40.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_OTHER_SHIP_RADIUS_FUDGE, __pyx_mstate_global->__pyx_float_40_0) < 0) __PYX_ERR(0, 151, __pyx_L1_error)
+0152: MINE_OTHER_SHIP_ASTEROID_COUNT_EQUIVALENT: Final[int] = 10
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_OTHER_SHIP_ASTEROID_COUNT_E, __pyx_mstate_global->__pyx_int_10) < 0) __PYX_ERR(0, 152, __pyx_L1_error)
+0153: TARGETING_AIMING_UNDERTURN_ALLOWANCE_DEG: Final[float] = 6.0
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_TARGETING_AIMING_UNDERTURN_ALLOW, __pyx_mstate_global->__pyx_float_6_0) < 0) __PYX_ERR(0, 153, __pyx_L1_error)
0154: # (asteroid_safe_time_fitness, mine_safe_time_fitness, asteroids_fitness, sequence_length_fitness, other_ship_proximity_fitness, crash_fitness, asteroid_aiming_cone_fitness, placed_mine_fitness, overall_safe_time_fitness)
0155: # These fitness weights were picked after doing a ton of training with a genetic optimizer:
+0156: DEFAULT_FITNESS_WEIGHTS: Final = (0.0, 0.13359801675028146, 0.1488417344765523, 0.0, 0.06974293843076491, 0.20559835937182916, 0.12775194210275548, 0.14357775694291458, 0.17088925192490204) # Hand picked: (7.0, 10.0, 1.5, 0.5, 6.0, 12.0, 0.5, 2.0, 7.0)
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+0157: MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF: Final[float] = 45.0 # I'd expect the smaller this is, the faster. But apparently 30 can be slower than 45 for some reason. So I'll leave it on 45 lol
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+0158: MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF_COSINE: Final[float] = cos(math.radians(MANEUVER_CONVENIENT_SHOT_CHECKER_CONE_WIDTH_ANGLE_HALF))
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+0159: MANEUVER_BULLET_SIM_CULLING_CONE_WIDTH_ANGLE_HALF: Final[float] = 60.0
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+0172: RANDOM_WALK_SCHEDULE_LENGTH: Final[int] = 3 # However many shots to plan out the direction for. Any shots after this, there isn't a limitation on direction.
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_RANDOM_WALK_SCHEDULE_LENGTH, __pyx_mstate_global->__pyx_int_3) < 0) __PYX_ERR(0, 172, __pyx_L1_error)
0173: # The reason we need this, is because without it, I'm checking whether I have the budget to do another iteration, but let's say I'm already taking 0 time. Kessler will pause for DELTA_TIME, taking up all the time, and I'd think I have no time to do anything!
0174: # So this fudge allows us to "push things" a bit, and fill up any remaining time so that Kessler is no longer pausing, and that time is spent in this controller to do more computations.
0175: # The side effect is that if we set this multiplier too low, then we're going to be operating at less than real time for sure.
0176: # Going slightly slower than real time is expected, since we always need to push things to know where that limit is
0177: # This isn't needed if the realtime multiplier is set to 0 within Kessler, so that Kessler is not unnecessarily pausing and running as fast as it can. But with realtime multiplier at 1, this is needed.
0178: # If realtime multiplier is set to some wacky value above 1, the game won't speed up and Neo will just use that time to do more iterations! To fix that, we need to change this multiplier to be above 1 too
0179: # You can kind of think of this as the percentage of real time we're going at. Kinda...
0180: # Also my logic is that if I always make sure I have enough time, then I’ll actually be within budget. Because say I take 10 time to do something. Well if I have 10 time left, I do it, but anything from 9 to 0 time left, I don’t. So on average, I leave out 10/2 time on the table. So that’s why I set the fudge multiplier to 0.5, so things average out to me being exactly on budget.
+0181: PERFORMANCE_CONTROLLER_PUSHING_THE_ENVELOPE_FUDGE_MULTIPLIER: Final[float] = 0.55
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+0182: MINIMUM_DELTA_TIME_FRACTION_BUDGET: Final[float] = 0.55 # One frametime is 1.0. If we give the other ship half of the time, then we should set this to 0.5. If we want non-realtime performance, we can change this to be >1
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+0183: ENABLE_PERFORMANCE_CONTROLLER: Final[bool] = True # The performance controller uses realtime, so it's nondeterministic. For debugging and using set random seeds, turn this off so the controller is determinstic again
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0184:
0185: # For the tuples below, the index is the number of lives Neo has left while going into the move
0186: # Index 0 in the tuples is not used, but to be safe I put a sane number there
0187:
+0188: MAX_RESPAWN_PER_TIMESTEP_SEARCH_ITERATIONS: Final[int] = 100
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+0189: MAX_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS: Final[int] = 100
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0190: # For each row of the lookup table, the index in the row corresponds to the number of lives left, minus one
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+0192: (70, 40, 13), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[62] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_70, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_13); if (unlikely(!__pyx_mstate_global->__pyx_tuple[62])) __PYX_ERR(0, 192, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[62]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[62]);
+0193: (60, 28, 12), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[63] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_60, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_12); if (unlikely(!__pyx_mstate_global->__pyx_tuple[63])) __PYX_ERR(0, 193, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[63]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[63]);
+0194: (50, 26, 11), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[64] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_50, __pyx_mstate_global->__pyx_int_26, __pyx_mstate_global->__pyx_int_11); if (unlikely(!__pyx_mstate_global->__pyx_tuple[64])) __PYX_ERR(0, 194, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[64]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[64]);
+0195: (45, 14, 10), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[65] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[65])) __PYX_ERR(0, 195, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[65]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[65]);
+0196: (16, 12, 9), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[66] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_16, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[66])) __PYX_ERR(0, 196, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[66]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[66]);
+0197: (15, 11, 8), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[67] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_15, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_8); if (unlikely(!__pyx_mstate_global->__pyx_tuple[67])) __PYX_ERR(0, 197, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[67]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[67]);
+0198: (14, 10, 7), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[68] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_10, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[68])) __PYX_ERR(0, 198, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[68]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[68]);
+0199: (13, 9, 6), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[69] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_13, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[69])) __PYX_ERR(0, 199, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[69]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[69]);
+0200: (12, 8, 5)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[70] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[70])) __PYX_ERR(0, 200, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[70]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[70]);
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+0202: (950, 810, 430), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[73] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_950, __pyx_mstate_global->__pyx_int_810, __pyx_mstate_global->__pyx_int_430); if (unlikely(!__pyx_mstate_global->__pyx_tuple[73])) __PYX_ERR(0, 202, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[73]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[73]);
+0203: (925, 780, 420), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[74] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_925, __pyx_mstate_global->__pyx_int_780, __pyx_mstate_global->__pyx_int_420); if (unlikely(!__pyx_mstate_global->__pyx_tuple[74])) __PYX_ERR(0, 203, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[74]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[74]);
+0204: (900, 730, 410), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[75] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_900, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_410); if (unlikely(!__pyx_mstate_global->__pyx_tuple[75])) __PYX_ERR(0, 204, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[75]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[75]);
+0205: (850, 715, 400), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[76] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_850, __pyx_mstate_global->__pyx_int_715, __pyx_mstate_global->__pyx_int_400); if (unlikely(!__pyx_mstate_global->__pyx_tuple[76])) __PYX_ERR(0, 205, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[76]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[76]);
+0206: (815, 680, 390), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[77] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_815, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_390); if (unlikely(!__pyx_mstate_global->__pyx_tuple[77])) __PYX_ERR(0, 206, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[77]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[77]);
+0207: (790, 660, 380), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[78] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_790, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_380); if (unlikely(!__pyx_mstate_global->__pyx_tuple[78])) __PYX_ERR(0, 207, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[78]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[78]);
+0208: (760, 640, 370), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[79] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_760, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_370); if (unlikely(!__pyx_mstate_global->__pyx_tuple[79])) __PYX_ERR(0, 208, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[79]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[79]);
+0209: (730, 620, 360), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[80] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_360); if (unlikely(!__pyx_mstate_global->__pyx_tuple[80])) __PYX_ERR(0, 209, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[80]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[80]);
+0210: (700, 600, 350)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[81] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_700, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_350); if (unlikely(!__pyx_mstate_global->__pyx_tuple[81])) __PYX_ERR(0, 210, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[81]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[81]);
+0211: MIN_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS_LUT: Final = ((85, 65, 30), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[83] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_85, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_30); if (unlikely(!__pyx_mstate_global->__pyx_tuple[83])) __PYX_ERR(0, 211, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[83]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[83]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_TIMESTEP_SEARCH, __pyx_mstate_global->__pyx_tuple[93]) < 0) __PYX_ERR(0, 211, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[93] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[83], __pyx_mstate_global->__pyx_tuple[84], __pyx_mstate_global->__pyx_tuple[85], __pyx_mstate_global->__pyx_tuple[86], __pyx_mstate_global->__pyx_tuple[87], __pyx_mstate_global->__pyx_tuple[88], __pyx_mstate_global->__pyx_tuple[89], __pyx_mstate_global->__pyx_tuple[90], __pyx_mstate_global->__pyx_tuple[91], __pyx_mstate_global->__pyx_tuple[92]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[93])) __PYX_ERR(0, 211, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[93]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[93]);
+0212: (65, 52, 25), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[84] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_52, __pyx_mstate_global->__pyx_int_25); if (unlikely(!__pyx_mstate_global->__pyx_tuple[84])) __PYX_ERR(0, 212, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[84]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[84]);
+0213: (55, 40, 20), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[85] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_55, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_20); if (unlikely(!__pyx_mstate_global->__pyx_tuple[85])) __PYX_ERR(0, 213, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[85]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[85]);
+0214: (45, 25, 15), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[86] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_15); if (unlikely(!__pyx_mstate_global->__pyx_tuple[86])) __PYX_ERR(0, 214, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[86]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[86]);
+0215: (25, 12, 9), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[87] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[87])) __PYX_ERR(0, 215, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[87]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[87]);
+0216: (20, 9, 6), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[88] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_20, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[88])) __PYX_ERR(0, 216, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[88]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[88]);
+0217: (14, 7, 5), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[89] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[89])) __PYX_ERR(0, 217, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[89]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[89]);
+0218: (8, 5, 4), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[90] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5, __pyx_mstate_global->__pyx_int_4); if (unlikely(!__pyx_mstate_global->__pyx_tuple[90])) __PYX_ERR(0, 218, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[90]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[90]);
+0219: (7, 4, 3), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[91] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_4, __pyx_mstate_global->__pyx_int_3); if (unlikely(!__pyx_mstate_global->__pyx_tuple[91])) __PYX_ERR(0, 219, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[91]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[91]);
+0220: (6, 3, 2)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[92] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_6, __pyx_mstate_global->__pyx_int_3, __pyx_mstate_global->__pyx_int_2); if (unlikely(!__pyx_mstate_global->__pyx_tuple[92])) __PYX_ERR(0, 220, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[92]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[92]);
+0221: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_LUT = ((300, 230, 105), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[94] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_300, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_105); if (unlikely(!__pyx_mstate_global->__pyx_tuple[94])) __PYX_ERR(0, 221, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[94]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[94]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I, __pyx_mstate_global->__pyx_tuple[104]) < 0) __PYX_ERR(0, 221, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[104] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[94], __pyx_mstate_global->__pyx_tuple[95], __pyx_mstate_global->__pyx_tuple[96], __pyx_mstate_global->__pyx_tuple[97], __pyx_mstate_global->__pyx_tuple[98], __pyx_mstate_global->__pyx_tuple[99], __pyx_mstate_global->__pyx_tuple[100], __pyx_mstate_global->__pyx_tuple[101], __pyx_mstate_global->__pyx_tuple[102], __pyx_mstate_global->__pyx_tuple[103]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[104])) __PYX_ERR(0, 221, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[104]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[104]);
+0222: (230, 185, 88), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[95] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_185, __pyx_mstate_global->__pyx_int_88); if (unlikely(!__pyx_mstate_global->__pyx_tuple[95])) __PYX_ERR(0, 222, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[95]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[95]);
+0223: (193, 140, 70), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[96] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_193, __pyx_mstate_global->__pyx_int_140, __pyx_mstate_global->__pyx_int_70); if (unlikely(!__pyx_mstate_global->__pyx_tuple[96])) __PYX_ERR(0, 223, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[96]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[96]);
+0224: (160, 88, 55), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[97] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_160, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_55); if (unlikely(!__pyx_mstate_global->__pyx_tuple[97])) __PYX_ERR(0, 224, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[97]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[97]);
+0225: (88, 42, 32), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[98] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_42, __pyx_mstate_global->__pyx_int_32); if (unlikely(!__pyx_mstate_global->__pyx_tuple[98])) __PYX_ERR(0, 225, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[98]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[98]);
+0226: (56, 28, 21), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[99] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_56, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_21); if (unlikely(!__pyx_mstate_global->__pyx_tuple[99])) __PYX_ERR(0, 226, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[99]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[99]);
+0227: (35, 25, 18), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[100] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_35, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18); if (unlikely(!__pyx_mstate_global->__pyx_tuple[100])) __PYX_ERR(0, 227, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[100]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[100]);
+0228: (25, 18, 14), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[101] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18, __pyx_mstate_global->__pyx_int_14); if (unlikely(!__pyx_mstate_global->__pyx_tuple[101])) __PYX_ERR(0, 228, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[101]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[101]);
+0229: (14, 11, 10), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[102] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[102])) __PYX_ERR(0, 229, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[102]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[102]);
+0230: (11, 11, 7)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[103] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[103])) __PYX_ERR(0, 230, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[103]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[103]);
+0231: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_IF_WILL_DIE_LUT = ((860, 680, 340), # Fitness from 0.0 to 0.1
__pyx_mstate_global->__pyx_tuple[105] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_860, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_340); if (unlikely(!__pyx_mstate_global->__pyx_tuple[105])) __PYX_ERR(0, 231, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[105]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[105]); /* … */ if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I_2, __pyx_mstate_global->__pyx_tuple[115]) < 0) __PYX_ERR(0, 231, __pyx_L1_error) /* … */ __pyx_mstate_global->__pyx_tuple[115] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[105], __pyx_mstate_global->__pyx_tuple[106], __pyx_mstate_global->__pyx_tuple[107], __pyx_mstate_global->__pyx_tuple[108], __pyx_mstate_global->__pyx_tuple[109], __pyx_mstate_global->__pyx_tuple[110], __pyx_mstate_global->__pyx_tuple[111], __pyx_mstate_global->__pyx_tuple[112], __pyx_mstate_global->__pyx_tuple[113], __pyx_mstate_global->__pyx_tuple[114]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[115])) __PYX_ERR(0, 231, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[115]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[115]);
+0232: (830, 660, 330), # Fitness from 0.1 to 0.2
__pyx_mstate_global->__pyx_tuple[106] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_830, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_330); if (unlikely(!__pyx_mstate_global->__pyx_tuple[106])) __PYX_ERR(0, 232, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[106]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[106]);
+0233: (800, 640, 320), # Fitness from 0.2 to 0.3
__pyx_mstate_global->__pyx_tuple[107] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_800, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_320); if (unlikely(!__pyx_mstate_global->__pyx_tuple[107])) __PYX_ERR(0, 233, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[107]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[107]);
+0234: (770, 620, 310), # Fitness from 0.3 to 0.4
__pyx_mstate_global->__pyx_tuple[108] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_770, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_310); if (unlikely(!__pyx_mstate_global->__pyx_tuple[108])) __PYX_ERR(0, 234, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[108]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[108]);
+0235: (740, 600, 300), # Fitness from 0.4 to 0.5
__pyx_mstate_global->__pyx_tuple[109] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_740, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_300); if (unlikely(!__pyx_mstate_global->__pyx_tuple[109])) __PYX_ERR(0, 235, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[109]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[109]);
+0236: (710, 580, 290), # Fitness from 0.5 to 0.6
__pyx_mstate_global->__pyx_tuple[110] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_710, __pyx_mstate_global->__pyx_int_580, __pyx_mstate_global->__pyx_int_290); if (unlikely(!__pyx_mstate_global->__pyx_tuple[110])) __PYX_ERR(0, 236, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[110]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[110]);
+0237: (690, 560, 280), # Fitness from 0.6 to 0.7
__pyx_mstate_global->__pyx_tuple[111] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_690, __pyx_mstate_global->__pyx_int_560, __pyx_mstate_global->__pyx_int_280); if (unlikely(!__pyx_mstate_global->__pyx_tuple[111])) __PYX_ERR(0, 237, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[111]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[111]);
+0238: (660, 540, 270), # Fitness from 0.7 to 0.8
__pyx_mstate_global->__pyx_tuple[112] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_540, __pyx_mstate_global->__pyx_int_270); if (unlikely(!__pyx_mstate_global->__pyx_tuple[112])) __PYX_ERR(0, 238, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[112]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[112]);
+0239: (630, 520, 260), # Fitness from 0.8 to 0.9
__pyx_mstate_global->__pyx_tuple[113] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_630, __pyx_mstate_global->__pyx_int_520, __pyx_mstate_global->__pyx_int_260); if (unlikely(!__pyx_mstate_global->__pyx_tuple[113])) __PYX_ERR(0, 239, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[113]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[113]);
+0240: (600, 500, 250)) # Fitness from 0.9 to 1.0
__pyx_mstate_global->__pyx_tuple[114] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_500, __pyx_mstate_global->__pyx_int_250); if (unlikely(!__pyx_mstate_global->__pyx_tuple[114])) __PYX_ERR(0, 240, __pyx_L1_error) __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[114]); __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[114]);
0241:
0242: # State dumping for debug
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+0245: REALITY_STATE_DUMP: Final[bool] = False # Dump each game state to json
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+0246: SIMULATION_STATE_DUMP: Final[bool] = False # Dump each simulated game state to json
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+0248: GAMESTATE_PLOTTING = False # For whatever reason having this set to final gives a mypyc compilation error
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+0249: BULLET_SIM_PLOTTING: Final[bool] = False
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+0250: NEXT_TARGET_PLOTTING = False # For whatever reason having this set to final gives a mypyc compilation error
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_NEXT_TARGET_PLOTTING, Py_False) < 0) __PYX_ERR(0, 250, __pyx_L1_error)
+0251: MANEUVER_SIM_PLOTTING: Final[bool] = False
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+0252: START_GAMESTATE_PLOTTING_AT_SECOND: Final[float] = 0.0
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+0254: SLOW_DOWN_GAME_AFTER_SECOND: Final[float] = INFINITY
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0256:
0257: # Debug settings
+0258: ENABLE_BAD_LUCK_EXCEPTION = False
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0260:
0261: # Quantities
+0262: cdef double TAD = 0.1
__pyx_v_14neo_controller_TAD = 0.1;
+0263: cdef double GRAIN = 0.001
__pyx_v_14neo_controller_GRAIN = 0.001;
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__pyx_v_14neo_controller_EPS = 0.0000000001;
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0267:
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__PYX_ERR(0, 268, __pyx_L1_error)
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+0270: cdef double TAU = 2.0*pi
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0271:
0272: # Kessler game constants
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if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_FIRE_COOLDOWN_TS, __pyx_mstate_global->__pyx_int_3) < 0) __PYX_ERR(0, 273, __pyx_L1_error)
+0274: MINE_COOLDOWN_TS: Final[int] = 30
if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MINE_COOLDOWN_TS, __pyx_mstate_global->__pyx_int_30) < 0) __PYX_ERR(0, 274, __pyx_L1_error)
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if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_BULLET_SPEED, __pyx_mstate_global->__pyx_float_800_0) < 0) __PYX_ERR(0, 278, __pyx_L1_error)
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+0280: BULLET_LENGTH: Final[float] = 12.0 # px
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+0287: SHIP_MAX_TURN_RATE_RAD_TS: Final[float] = math.radians(SHIP_MAX_TURN_RATE_DEG_TS)
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+0409: cdef double combined = self.px + 0.4266548291679171 * self.py + 0.8164926348982552 * self.vx + 0.8397584399461026 * self.vy
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0411:
0412: # If you want pure C-API versions of the hash helpers:
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double __pyx_r;
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0415:
+0416: cdef int int_hash(self):
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double __pyx_v_combined;
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0419:
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0421: class Asteroid:
0422: __slots__ = ('position', 'velocity', 'size', 'mass', 'radius', 'timesteps_until_appearance')
0423:
0424: def __init__(self, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), size: int = 0, mass: float = 0.0, radius: float = 0.0, timesteps_until_appearance: int = 0) -> None:
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0427: self.size = size
0428: self.mass = mass
0429: self.radius = radius
0430: self.timesteps_until_appearance = timesteps_until_appearance
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0463:
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0469: mass=self.mass,
0470: radius=self.radius,
0471: timesteps_until_appearance=self.timesteps_until_appearance
0472: )
0473: '''
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double radius;
int id;
PyObject *team;
int lives_remaining;
int bullets_remaining;
int mines_remaining;
int can_fire;
double fire_rate;
int can_deploy_mine;
double mine_deploy_rate;
double thrust_range0;
double thrust_range1;
double turn_rate_range0;
double turn_rate_range1;
double max_speed;
double drag;
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static int __pyx_pf_14neo_controller_4Ship___cinit__(struct __pyx_obj_14neo_controller_Ship *__pyx_v_self, int __pyx_v_is_respawning, double __pyx_v_px, double __pyx_v_py, double __pyx_v_vx, double __pyx_v_vy, double __pyx_v_speed, double __pyx_v_heading, double __pyx_v_mass, double __pyx_v_radius, int __pyx_v_id, PyObject *__pyx_v_team, int __pyx_v_lives_remaining, int __pyx_v_bullets_remaining, int __pyx_v_mines_remaining, int __pyx_v_can_fire, double __pyx_v_fire_rate, int __pyx_v_can_deploy_mine, double __pyx_v_mine_deploy_rate, PyObject *__pyx_v_thrust_range, PyObject *__pyx_v_turn_rate_range, double __pyx_v_max_speed, double __pyx_v_drag) {
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/* … */
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0515:
0516: '''
0517: class Ship:
0518: __slots__ = ('is_respawning', 'position', 'velocity', 'speed', 'heading', 'mass', 'radius', 'id', 'team', 'lives_remaining', 'bullets_remaining', 'mines_remaining', 'can_fire', 'fire_rate', 'can_deploy_mine', 'mine_deploy_rate', 'thrust_range', 'turn_rate_range', 'max_speed', 'drag')
0519:
0520: def __init__(self, is_respawning: bool = False, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), speed: float = 0.0, heading: float = 0.0, mass: float = 0.0, radius: float = 0.0, id: int = 0, team: str = '', lives_remaining: int = 0, bullets_remaining: int = 0, mines_remaining: int = 0, can_fire: bool = True, fire_rate: float = 0.0, can_deploy_mine: bool = True, mine_deploy_rate: float = 0.0, thrust_range: tuple[float, float] = (-SHIP_MAX_THRUST, SHIP_MAX_THRUST), turn_rate_range: tuple[float, float] = (-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE), max_speed: float = SHIP_MAX_SPEED, drag: float = SHIP_DRAG) -> None:
0521: self.is_respawning = is_respawning
0522: self.position = position
0523: self.velocity = velocity
0524: self.speed = speed
0525: self.heading = heading
0526: self.mass = mass
0527: self.radius = radius
0528: self.id = id
0529: self.team = team
0530: self.lives_remaining = lives_remaining
0531: self.bullets_remaining = bullets_remaining
0532: self.mines_remaining = mines_remaining
0533: self.can_fire = can_fire
0534: self.fire_rate = fire_rate
0535: self.can_deploy_mine = can_deploy_mine
0536: self.mine_deploy_rate = mine_deploy_rate
0537: self.thrust_range = thrust_range
0538: self.turn_rate_range = turn_rate_range
0539: self.max_speed = max_speed
0540: self.drag = drag
0541:
0542: def __str__(self) -> str:
0543: return f'Ship(is_respawning={self.is_respawning}, position={self.position}, velocity={self.velocity}, speed={self.speed}, heading={self.heading}, mass={self.mass}, radius={self.radius}, id={self.id}, team="{self.team}", lives_remaining={self.lives_remaining}, bullets_remaining={self.bullets_remaining}, mines_remaining={self.mines_remaining}, can_fire={self.can_fire}, fire_rate={self.fire_rate}, can_deploy_mine={self.can_deploy_mine}, mine_deploy_rate={self.mine_deploy_rate}, thrust_range={self.thrust_range}, turn_rate_range={self.turn_rate_range}, max_speed={self.max_speed}, drag={self.drag})'
0544:
0545: def __repr__(self) -> str:
0546: return self.__str__()
0547:
0548: def copy(self) -> 'Ship':
0549: return Ship(
0550: is_respawning=self.is_respawning,
0551: position=self.position,
0552: velocity=self.velocity,
0553: speed=self.speed,
0554: heading=self.heading,
0555: mass=self.mass,
0556: radius=self.radius,
0557: id=self.id,
0558: team=self.team,
0559: lives_remaining=self.lives_remaining,
0560: bullets_remaining=self.bullets_remaining,
0561: mines_remaining=self.mines_remaining,
0562: can_fire=self.can_fire,
0563: fire_rate=self.fire_rate,
0564: can_deploy_mine=self.can_deploy_mine,
0565: mine_deploy_rate=self.mine_deploy_rate,
0566: thrust_range=self.thrust_range,
0567: turn_rate_range=self.turn_rate_range,
0568: max_speed=self.max_speed,
0569: drag=self.drag
0570: )
0571:
0572: def __eq__(self, other: object) -> bool:
0573: if not isinstance(other, Ship):
0574: return NotImplemented
0575: return (self.is_respawning == other.is_respawning and
0576: self.position == other.position and
0577: self.velocity == other.velocity and
0578: self.speed == other.speed and
0579: self.heading == other.heading and
0580: self.mass == other.mass and
0581: self.radius == other.radius and
0582: self.id == other.id and
0583: self.team == other.team and
0584: self.lives_remaining == other.lives_remaining and
0585: self.bullets_remaining == other.bullets_remaining and
0586: self.mines_remaining == other.mines_remaining and
0587: #self.can_fire == other.can_fire and
0588: self.fire_rate == other.fire_rate and
0589: #self.can_deploy_mine == other.can_deploy_mine and
0590: self.mine_deploy_rate == other.mine_deploy_rate and
0591: self.thrust_range == other.thrust_range and
0592: self.turn_rate_range == other.turn_rate_range and
0593: self.max_speed == other.max_speed and
0594: self.drag == other.drag)
0595: '''
0596:
0597: '''
0598: class Mine:
0599: __slots__ = ('position', 'mass', 'fuse_time', 'remaining_time')
0600:
0601: def __init__(self, position: tuple[float, float] = (0.0, 0.0), mass: float = 0.0, fuse_time: float = 0.0, remaining_time: float = 0.0) -> None:
0602: self.position = position
0603: self.mass = mass
0604: self.fuse_time = fuse_time
0605: self.remaining_time = remaining_time
0606:
0607: def __str__(self) -> str:
0608: return f'Mine(position={self.position}, mass={self.mass}, fuse_time={self.fuse_time}, remaining_time={self.remaining_time})'
0609:
0610: def __repr__(self) -> str:
0611: return self.__str__()
0612:
0613: def copy(self) -> 'Mine':
0614: return Mine(
0615: position=self.position,
0616: mass=self.mass,
0617: fuse_time=self.fuse_time,
0618: remaining_time=self.remaining_time
0619: )
0620:
0621: def __eq__(self, other: object) -> bool:
0622: if not isinstance(other, Mine):
0623: return NotImplemented
0624: return (self.position == other.position and
0625: self.mass == other.mass and
0626: self.fuse_time == other.fuse_time and
0627: self.remaining_time == other.remaining_time)
0628: '''
0629:
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0673:
0674: def __repr__(self) -> str:
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0685:
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0691: self.heading == other.heading and
0692: self.mass == other.mass and
0693: self.tail_delta == other.tail_delta)
0694: '''
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0732:
0733: '''
0734: class GameState:
0735: __slots__ = ('asteroids', 'ships', 'bullets', 'mines', 'map_size', 'time', 'delta_time', 'sim_frame', 'time_limit')
0736:
0737: def __init__(self, asteroids: list[Asteroid], ships: list[Ship], bullets: list[Bullet], mines: list[Mine], map_size: tuple[float, float] = (0.0, 0.0), time: float = 0.0, delta_time: float = 0.0, sim_frame: int = 0, time_limit: float = 0.0) -> None:
0738: self.asteroids = asteroids
0739: self.ships = ships
0740: self.bullets = bullets
0741: self.mines = mines
0742: self.map_size = map_size
0743: self.time = time
0744: self.delta_time = delta_time
0745: self.sim_frame = sim_frame
0746: self.time_limit = time_limit
0747:
0748: def __str__(self) -> str:
0749: return f'GameState(asteroids={self.asteroids}, ships={self.ships}, bullets={self.bullets}, mines={self.mines}, map_size={self.map_size}, time={self.time}, delta_time={self.delta_time}, sim_frame={self.sim_frame}, time_limit={self.time_limit})'
0750:
0751: def __repr__(self) -> str:
0752: return self.__str__()
0753:
0754: def copy(self) -> 'GameState':
0755: return GameState(
0756: asteroids=[asteroid.copy() for asteroid in self.asteroids],
0757: ships=[ship.copy() for ship in self.ships],
0758: bullets=[bullet.copy() for bullet in self.bullets],
0759: mines=[mine.copy() for mine in self.mines],
0760: map_size=self.map_size,
0761: time=self.time,
0762: delta_time=self.delta_time,
0763: sim_frame=self.sim_frame,
0764: time_limit=self.time_limit
0765: )
0766:
0767: def __eq__(self, other: object) -> bool:
0768: if not isinstance(other, GameState):
0769: return NotImplemented
0770:
0771: # Compare asteroids
0772: if len(self.asteroids) != len(other.asteroids):
0773: print("Asteroids lists are different lengths!")
0774: return False
0775: for i, (ast_a, ast_b) in enumerate(zip(self.asteroids, other.asteroids)):
0776: if ast_a != ast_b:
0777: print(f"Asteroids don't match at index {i}: {ast_a} vs {ast_b}")
0778: return False
0779:
0780: # Compare bullets
0781: if len(self.bullets) != len(other.bullets):
0782: print("Bullet lists are different lengths!")
0783: return False
0784: for i, (bul_a, bul_b) in enumerate(zip(self.bullets, other.bullets)):
0785: if bul_a != bul_b:
0786: print(f"Bullets don't match at index {i}: {bul_a} vs {bul_b}")
0787: return False
0788:
0789: # Compare mines
0790: if len(self.mines) != len(other.mines):
0791: print("Mine lists are different lengths!")
0792: return False
0793: for i, (mine_a, mine_b) in enumerate(zip(self.mines, other.mines)):
0794: if mine_a != mine_b:
0795: print(f"Mines don't match at index {i}: {mine_a} vs {mine_b}")
0796: return False
0797:
0798: # Compare ships
0799: #if len(self.ships) != len(other.ships):
0800: # print("Ships lists are different lengths!")
0801: # return False
0802: #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
0803: # if ship_a != ship_b:
0804: # print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
0805: # return False
0806:
0807: # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
0808: return True
0809: '''
0810:
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double time;
double delta_time;
double time_limit;
int sim_frame;
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0849: # Ships comparison rewritten but commented, as requested:
0850: #if len(self.ships) != len(other.ships): print("Ships lists are different lengths!"); return False
0851: #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
0852: # if ship_a != ship_b: print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}"); return False
+0853: return True
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0854:
0855: '''
0856: class Target:
0857: __slots__ = ('asteroid', 'feasible', 'shooting_angle_error_deg', 'aiming_timesteps_required', 'interception_time_s', 'intercept_x', 'intercept_y', 'asteroid_dist_during_interception', 'imminent_collision_time_s', 'asteroid_will_get_hit_by_my_mine', 'asteroid_will_get_hit_by_their_mine')
0858:
0859: def __init__(self, asteroid: Asteroid, feasible: bool = False, shooting_angle_error_deg: float = 0.0, aiming_timesteps_required: int = 0, interception_time_s: float = 0.0, intercept_x: float = 0.0, intercept_y: float = 0.0, asteroid_dist_during_interception: float = 0.0, imminent_collision_time_s: float = 0.0, asteroid_will_get_hit_by_my_mine: bool = False, asteroid_will_get_hit_by_their_mine: bool = False) -> None:
0860: self.asteroid = asteroid
0861: self.feasible = feasible
0862: self.shooting_angle_error_deg = shooting_angle_error_deg
0863: self.aiming_timesteps_required = aiming_timesteps_required
0864: self.interception_time_s = interception_time_s
0865: self.intercept_x = intercept_x
0866: self.intercept_y = intercept_y
0867: self.asteroid_dist_during_interception = asteroid_dist_during_interception
0868: self.imminent_collision_time_s = imminent_collision_time_s
0869: self.asteroid_will_get_hit_by_my_mine = asteroid_will_get_hit_by_my_mine
0870: self.asteroid_will_get_hit_by_their_mine = asteroid_will_get_hit_by_their_mine
0871:
0872: def __str__(self) -> str:
0873: return f'Target(asteroid={self.asteroid}, feasible={self.feasible}, shooting_angle_error_deg={self.shooting_angle_error_deg}, aiming_timesteps_required={self.aiming_timesteps_required}, interception_time_s={self.interception_time_s}, intercept_x={self.intercept_x}, intercept_y={self.intercept_y}, asteroid_dist_during_interception={self.asteroid_dist_during_interception}, imminent_collision_time_s={self.imminent_collision_time_s}, asteroid_will_get_hit_by_my_mine={self.asteroid_will_get_hit_by_my_mine}, asteroid_will_get_hit_by_their_mine={self.asteroid_will_get_hit_by_their_mine})'
0874:
0875: def __repr__(self) -> str:
0876: return self.__str__()
0877:
0878: def copy(self) -> 'Target':
0879: return Target(
0880: asteroid=self.asteroid.copy(),
0881: feasible=self.feasible,
0882: shooting_angle_error_deg=self.shooting_angle_error_deg,
0883: aiming_timesteps_required=self.aiming_timesteps_required,
0884: interception_time_s=self.interception_time_s,
0885: intercept_x=self.intercept_x,
0886: intercept_y=self.intercept_y,
0887: asteroid_dist_during_interception=self.asteroid_dist_during_interception,
0888: imminent_collision_time_s=self.imminent_collision_time_s,
0889: asteroid_will_get_hit_by_my_mine=self.asteroid_will_get_hit_by_my_mine,
0890: asteroid_will_get_hit_by_their_mine=self.asteroid_will_get_hit_by_their_mine
0891: )
0892: '''
0893:
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0909:
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1055: # Since I add in the tail delta myself, it may or may not exist.
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1064: asteroids: list[AsteroidDict]
1065: ships: list[ShipDict]
1066: bullets: list[BulletDict]
1067: mines: list[MineDict]
1068: map_size: tuple[float, float]
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1078: ship_state: Ship
1079: game_state: GameState
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1372: '''a and b are direction vectors. This checks whether the absolute heading difference between them are within a threshold angle.'''
1373: # This function would work the same way as if we took the ship's heading, and found the absolute wrapped difference between that and the direction vector of the asteroid, and then compared against the threshold
1374: # But this method is faster as it avoids the atan2 calculation, and instead does a sin and cos and does the threshold comparison with the cos value of the angle, instead of the angle itself
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1539: # print(f"Potentially bombing other ship. Giving reward of 10 asts!")
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1542: # If ship is out of bullets, fudge the numbers to make the mine fis more likely to activate
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1545: # We want to conserve mines more if we only have mines left and not bullets, and laying multiple mines at once is risky because the first one may blow asteroids away from the second, so the second one would be a waste
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+1547: lives_fudge = 2 # Fudge it so that we don't care if we're at a low amount of lives. If we're out of bullets, then it's fine to be reckless, because the assumption is that it's most of the way through the scenario anyway. This assumption has been false for XFC 2024's second corridor scenario though, but it's good enough at avoiding that it doesn't matter.
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1548: # debug_print(f"Mine count inside: {mine_ast_count} compared to average density amount inside: {average_asteroids_inside_blast_radius}")
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1555: # Antecedents (Inputs)
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1568:
1569: # Membership Functions for Antecedents
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1571: # imminent_asteroid_relative_heading.automf(names=['F', 'FL', 'L', 'BL', 'B', 'BR', 'R', 'FR'])
1572: # largest_gap_relative_heading.automf(names=['F', 'FL', 'L', 'BL', 'B', 'BR', 'R', 'FR'])
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1575:
1576: # Define manual membership functions with 90 degrees width, dominant in 45 degrees
1577: # Forward (F) - Bimodal covering 0 to 45 and 315 to 360
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1632:
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1639: # ship_accel_turn_rate.view()
1640: # Cruise Speed
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1649: # ship_cruise_turn_rate.view()
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1654: # ship_cruise_timesteps.view()
1655:
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+1699: maneuver_fis = setup_heuristic_maneuver_fis()
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1700: # print(f"imminent_asteroid_speed: {imminent_asteroid_speed}, imminent_asteroid_relative_heading: {imminent_asteroid_relative_heading}, largest_gap_relative_heading: {largest_gap_relative_heading}, nearby_asteroid_average_speed: {nearby_asteroid_average_speed}, nearby_asteroid_count: {nearby_asteroid_count}")
+1701: maneuver_fis.input['imminent_asteroid_speed'] = imminent_asteroid_speed
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+1702: maneuver_fis.input['imminent_asteroid_relative_heading'] = imminent_asteroid_relative_heading
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+1703: maneuver_fis.input['largest_gap_relative_heading'] = largest_gap_relative_heading
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+1704: maneuver_fis.input['nearby_asteroid_average_speed'] = nearby_asteroid_average_speed
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+1705: maneuver_fis.input['nearby_asteroid_count'] = nearby_asteroid_count
__pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_maneuver_fis, __pyx_mstate_global->__pyx_n_u_input); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 1705, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); if (unlikely((PyObject_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_nearby_asteroid_count, __pyx_v_nearby_asteroid_count) < 0))) __PYX_ERR(0, 1705, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
+1706: maneuver_fis.compute()
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1707:
+1708: acceleration_turn_rate = cast(float, maneuver_fis.output['ship_accel_turn_rate'])
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+1709: cruise_speed = cast(float, maneuver_fis.output['ship_cruise_speed'])
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+1710: cruise_turn_rate = cast(float, maneuver_fis.output['ship_cruise_turn_rate'])
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+1711: cruise_timesteps = cast(float, maneuver_fis.output['ship_cruise_timesteps'])
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+1712: thrust_direction = cast(float, maneuver_fis.output['ship_thrust_direction'])
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1713: # debug_print(f"FIS Acceleration Turn Rate: {acceleration_turn_rate}, Cruise Speed: {cruise_speed}, Cruise Turn Rate: {cruise_turn_rate}, Cruise Timesteps: {cruise_timesteps}, Thrust Direction: {thrust_direction}")
+1714: return acceleration_turn_rate, cruise_speed, cruise_turn_rate, cruise_timesteps, thrust_direction
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1715:
1716:
+1717: def sigmoid(x: float, k: float = 1.0, x0: float = 0.0) -> float:
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case 0: break; default: goto __pyx_L5_argtuple_error; } const Py_ssize_t kwd_pos_args = __pyx_nargs; if (__Pyx_ParseKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values, kwd_pos_args, __pyx_kwds_len, "sigmoid", 0) < 0) __PYX_ERR(0, 1717, __pyx_L3_error) for (Py_ssize_t i = __pyx_nargs; i < 1; i++) { if (unlikely(!values[i])) { __Pyx_RaiseArgtupleInvalid("sigmoid", 0, 1, 3, i); __PYX_ERR(0, 1717, __pyx_L3_error) } } } else { switch (__pyx_nargs) { case 3: values[2] = __Pyx_ArgRef_FASTCALL(__pyx_args, 2); if (!CYTHON_ASSUME_SAFE_MACROS && unlikely(!values[2])) __PYX_ERR(0, 1717, __pyx_L3_error) CYTHON_FALLTHROUGH; case 2: values[1] = __Pyx_ArgRef_FASTCALL(__pyx_args, 1); if (!CYTHON_ASSUME_SAFE_MACROS && unlikely(!values[1])) __PYX_ERR(0, 1717, __pyx_L3_error) CYTHON_FALLTHROUGH; case 1: values[0] = __Pyx_ArgRef_FASTCALL(__pyx_args, 0); if (!CYTHON_ASSUME_SAFE_MACROS && unlikely(!values[0])) __PYX_ERR(0, 1717, __pyx_L3_error) break; default: goto __pyx_L5_argtuple_error; } } __pyx_v_x = __Pyx_PyFloat_AsDouble(values[0]); 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1718: """
1719: Compute the logistic sigmoid function with scaling and shift.
1720:
1721: Parameters:
1722: - x: The input value or array of values.
1723: - k: The scaling factor for steepness. Higher values make the curve steeper. Positive k makes an increasing function, while negative k make a decreasing function.
1724: - x0: The shift factor. Positive values shift the curve to the right, negative to the left.
1725:
1726: Returns:
1727: - The logistic sigmoid function value(s) for the given input.
1728: """
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1730:
1731:
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1733: """
1734: Interpolate a linear function between two points. If the input is outside the range, then the output is clamped to the nearest extreme output.
1735: """
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+1737: x2, y2 = point2
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1743: else:
+1744: return y1 + (x - x1)*(y2 - y1)/(x2 - x1)
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1745:
1746:
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1776: """
1777: Calculate the weighted harmonic mean of a list of numbers.
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/* … */
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1898:
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2065: # This is a silly code duplication to get a super optimized class for getting the ship's move sequence. Using the entire Simulation class is overkill and too much.
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2069: #if not is_close(ship_starting_speed, 0.0):
2070: # print(f"The ship maneuver should start with 0 speed! It's actually {ship_starting_speed}. Unless... we just were saved by the other ship, so we're starting a maneuver while in the middle of another maneuver!")
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2126: #if not isclose(ship_starting_speed, 0.0):
2127: #print(f"New ship speed after thrusting by {thrust}: {ship_speed}")
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+2133: accelerate(0.0, 0.0) # TODO: If we remove this, we get some interesting results and emergent behavior. Neo would spazz around the map, going from one maneuver directly into another. I might even be able to tweak it to work. Maybe in the stationary targeting, apply a thrust to slow down the ship, so the targeting works a bit better. That could fix the issue, and it might be worth exploring if I have time! But for now, let’s just eat the slight time loss and regain the control of node based movement without drifting around like driftwood.
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2140:
2141:
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2306: # This should speed up scenarios where most asteroids are stationary
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2320:
2321:
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2323: # print("ship_pos_x, ship_pos_y, ship_vel_x, ship_vel_y, ship_r, ast_pos_x, ast_pos_y, ast_vel_x, ast_vel_y, ast_radius")
2324: # print(ship_pos_x, ship_pos_y, ship_vel_x, ship_vel_y, ship_r, ast_pos_x, ast_pos_y, ast_vel_x, ast_vel_y, ast_radius)
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+2326: assert check_coordinate_bounds(game_state, ship_pos_x, ship_pos_y) # REMOVE_FOR_COMPETITION
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2355:
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PyErr_SetString(PyExc_ZeroDivisionError, "float division");
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if (PyDict_SetItem(__pyx_t_4, __pyx_mstate_global->__pyx_n_u_return, __pyx_mstate_global->__pyx_kp_u_list_tuple_int_int) < 0) __PYX_ERR(0, 2412, __pyx_L1_error)
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__Pyx_CyFunction_SetAnnotationsDict(__pyx_t_2, __pyx_t_4);
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2413: # Initialize lists to hold crossing times
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
__pyx_v_x_crossings = __pyx_mstate_global->__pyx_int_0;
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
__pyx_v_y_crossings = __pyx_mstate_global->__pyx_int_0;
2418:
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__pyx_t_2 = fabs(__pyx_v_vel_x); __pyx_v_abs_vx = __pyx_t_2;
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__pyx_t_3 = (__pyx_v_abs_vx > __pyx_v_14neo_controller_EPS);
if (__pyx_t_3) {
/* … */
}
2422: # Calculate time to first x-boundary crossing based on direction of vx
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if (unlikely(__pyx_v_abs_vx == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2423, __pyx_L1_error)
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if (__pyx_t_3) {
__pyx_t_4 = (__pyx_v_width - __pyx_v_pos_x);
if (unlikely(__pyx_v_vel_x == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2425, __pyx_L1_error)
}
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__pyx_t_4 = (-__pyx_v_pos_x);
if (unlikely(__pyx_v_vel_x == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2425, __pyx_L1_error)
}
__pyx_t_2 = (__pyx_t_4 / __pyx_v_vel_x);
}
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2428: # Add additional crossings until time c is reached
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while (1) {
__pyx_t_1 = __Pyx_GetItemInt_List(__pyx_v_x_crossings_times, -1L, long, 1, __Pyx_PyLong_From_long, 1, 1, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2429, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_1);
__pyx_t_6 = PyFloat_FromDouble(__pyx_v_x_crossing_interval); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 2429, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_6);
__pyx_t_7 = PyNumber_Add(__pyx_t_1, __pyx_t_6); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2429, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_7);
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
__Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
__Pyx_XDECREF_SET(__pyx_v_next_time, __pyx_t_7);
__Pyx_INCREF(__pyx_t_7);
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__Pyx_GOTREF(__pyx_t_6);
__pyx_t_1 = PyObject_RichCompare(__pyx_t_7, __pyx_t_6, Py_LE); __Pyx_XGOTREF(__pyx_t_1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2429, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
__Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
__pyx_t_3 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 2429, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
if (!__pyx_t_3) break;
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__pyx_t_5 = __Pyx_PyList_Append(__pyx_v_x_crossings_times, __pyx_v_next_time); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 2430, __pyx_L1_error)
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__pyx_t_1 = __Pyx_PyLong_AddObjC(__pyx_v_x_crossings, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2431, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF_SET(__pyx_v_x_crossings, __pyx_t_1); __pyx_t_1 = 0; }
2432: # print(f"x crossing times: {x_crossings_times}")
2433: # Calculate crossing times for y (if vy is not zero)
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__pyx_t_2 = fabs(__pyx_v_vel_y); __pyx_v_abs_vy = __pyx_t_2;
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__pyx_t_3 = (__pyx_v_abs_vy > __pyx_v_14neo_controller_EPS);
if (__pyx_t_3) {
/* … */
}
2436: # Calculate time to first y-boundary crossing based on direction of vy
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if (unlikely(__pyx_v_abs_vy == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2437, __pyx_L1_error)
}
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2438: # print(f"y_crossing_interval: {y_crossing_interval}")
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if (__pyx_t_3) {
__pyx_t_4 = (__pyx_v_height - __pyx_v_pos_y);
if (unlikely(__pyx_v_vel_y == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2439, __pyx_L1_error)
}
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__pyx_t_4 = (-__pyx_v_pos_y);
if (unlikely(__pyx_v_vel_y == 0)) {
PyErr_SetString(PyExc_ZeroDivisionError, "float division");
__PYX_ERR(0, 2439, __pyx_L1_error)
}
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}
__pyx_v_time_to_first_y_crossing = __pyx_t_2;
+2440: y_crossings_times.append(time_to_first_y_crossing)
__pyx_t_1 = PyFloat_FromDouble(__pyx_v_time_to_first_y_crossing); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2440, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_5 = __Pyx_PyList_Append(__pyx_v_y_crossings_times, __pyx_t_1); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 2440, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
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__pyx_t_1 = __Pyx_PyLong_AddObjC(__pyx_v_y_crossings, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2441, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF_SET(__pyx_v_y_crossings, __pyx_t_1); __pyx_t_1 = 0;
2442: # Add additional crossings until time c is reached
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while (1) {
__pyx_t_1 = __Pyx_GetItemInt_List(__pyx_v_y_crossings_times, -1L, long, 1, __Pyx_PyLong_From_long, 1, 1, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_1);
__pyx_t_6 = PyFloat_FromDouble(__pyx_v_y_crossing_interval); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_6);
__pyx_t_7 = PyNumber_Add(__pyx_t_1, __pyx_t_6); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_7);
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
__Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
__Pyx_XDECREF_SET(__pyx_v_next_time, __pyx_t_7);
__Pyx_INCREF(__pyx_t_7);
__pyx_t_6 = PyFloat_FromDouble(__pyx_v_time_horizon); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_6);
__pyx_t_1 = PyObject_RichCompare(__pyx_t_7, __pyx_t_6, Py_LE); __Pyx_XGOTREF(__pyx_t_1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
__Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
__pyx_t_3 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 2443, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
if (!__pyx_t_3) break;
+2444: y_crossings_times.append(next_time)
__pyx_t_5 = __Pyx_PyList_Append(__pyx_v_y_crossings_times, __pyx_v_next_time); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 2444, __pyx_L1_error)
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__pyx_t_1 = __Pyx_PyLong_AddObjC(__pyx_v_y_crossings, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2445, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF_SET(__pyx_v_y_crossings, __pyx_t_1); __pyx_t_1 = 0; }
2446: # print(f"y crossing times: {y_crossings_times}")
2447: # Merge the two lists while tracking the origin of each time
2448: #merged_times = []
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__pyx_t_1 = PyList_New(0); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2449, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_v_border_crossing_sequence = ((PyObject*)__pyx_t_1); __pyx_t_1 = 0;
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
__pyx_v_i = __pyx_mstate_global->__pyx_int_0;
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
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2452:
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while (1) {
__pyx_t_1 = PyObject_RichCompare(__pyx_v_i, __pyx_v_x_crossings, Py_LT); __Pyx_XGOTREF(__pyx_t_1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2454, __pyx_L1_error)
__pyx_t_8 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_8 < 0))) __PYX_ERR(0, 2454, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
if (__pyx_t_8) {
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__pyx_t_3 = __pyx_t_8;
goto __pyx_L11_bool_binop_done;
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__pyx_t_1 = PyObject_RichCompare(__pyx_v_j, __pyx_v_y_crossings, Py_LT); __Pyx_XGOTREF(__pyx_t_1); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 2454, __pyx_L1_error)
__pyx_t_8 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_8 < 0))) __PYX_ERR(0, 2454, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
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if (!__pyx_t_3) break;
+2455: if x_crossings_times[i] < y_crossings_times[j]:
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2456: #merged_times.append(x_crossings_times[i])
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__pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_v_i, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2458, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF_SET(__pyx_v_i, __pyx_t_7); __pyx_t_7 = 0;
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__pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_v_j, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2462, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF_SET(__pyx_v_j, __pyx_t_7); __pyx_t_7 = 0; } __pyx_L13:; }
2463:
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__pyx_t_3 = __Pyx_PyObject_IsTrue(__pyx_t_7); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 2465, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
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__pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_v_i, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2468, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF_SET(__pyx_v_i, __pyx_t_7); __pyx_t_7 = 0; }
2469:
2470: # Add any remaining times from the y_crossings_times list
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while (1) {
__pyx_t_7 = PyObject_RichCompare(__pyx_v_j, __pyx_v_y_crossings, Py_LT); __Pyx_XGOTREF(__pyx_t_7); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2471, __pyx_L1_error)
__pyx_t_3 = __Pyx_PyObject_IsTrue(__pyx_t_7); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 2471, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
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__pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_v_j, __pyx_mstate_global->__pyx_int_1, 1, 1, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 2474, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_7); __Pyx_DECREF_SET(__pyx_v_j, __pyx_t_7); __pyx_t_7 = 0; }
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
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__Pyx_INCREF(__pyx_mstate_global->__pyx_int_0);
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2492:
2493:
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if (__pyx_t_7) {
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__pyx_t_1 = __pyx_t_7;
goto __pyx_L6_bool_binop_done;
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__pyx_L6_bool_binop_done:;
if (__pyx_t_1) {
/* … */
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2514: # An asteroid that is stationary will never move across borders
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2517: #unwrap_total_time += time.perf_counter() - start_time
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2519:
2520: # The idea is to track which universes the asteroid visits from t=t_0 until t=t_0 + time_horizon_s.
2521: # The current universe is (0, 0) and if the asteroid wraps to the right, it visits (1, 0). If it wraps down, it visits (0, -1). If it wraps right and then down, it starts in (0, 0), visits (1, 0), and finally (1, -1).
2522: #border_crossings = calculate_border_crossings(asteroid.px, asteroid.py, asteroid.vx, asteroid.vy, max_x, max_y, time_horizon_s)
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2524: # We negate the directions because we're using the frame of reference of the ship now, not the asteroid
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2527: #unwrapped_asteroid: Asteroid = asteroid.copy()
2528: #unwrapped_asteroid.position = (unwrapped_asteroid.px + dx, unwrapped_asteroid.py + dy)
2529: #unwrapped_asteroids.append(unwrapped_asteroid)
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/* … */
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2539: ))
2540: #yield unwrapped_asteroid
2541: # print(f"Returning unwrapped asteroids: {unwrapped_asteroids}")
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2546:
2547:
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2600:
2601:
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2655:
2656:
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2667:
2668:
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2678:
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/* … */
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/* … */
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2701:
2702:
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2790:
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2812:
2813:
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2815: # This is an optimized version of circle_line_collision() from the Kessler source code
2816: # First, do a rough check if there's no chance the collision can occur
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2830:
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2890:
2891:
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/* Python wrapper */
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2910:
2911:
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2937: # Here's a good resource to learn about this: https://www.youtube.com/watch?v=MpUUsDDE1sI
2938: # https://medium.com/andys-coding-blog/ai-projectile-intercept-formula-for-gaming-without-trigonometry-37b70ef5718b
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2960: #if len(solutions) > 1:
2961: # print(len(solutions))
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3162: # plot_function()
3163: #valid_solutions = []
3164: # print_debug = False
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3170: # The naive solution works because there's no turning delay
3171: # debug_print('Naive solution works!', naive_solution)
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3175: else:
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3177: # The asteroid is pretty much stationary. Naive solution works fine.
3178: # debug_print("The asteroid is pretty much stationary. Naive solution works fine.")
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3180: else:
3181: # Use more advanced solution
3182: # debug_print('Using more advanced root finder')
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3191: # delta_theta_solution = (delta_theta_solution + pi)%TAU - pi
3192: # Check validity of solution to make sure time is positive and stuff
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3200: # t_total = t_rot + t_bullet
3201:
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3206: # debug_print(f"Intercept_y ({intercept_y}) = origin_y ({origin_y}) + vb*sin({absolute_theta_solution})*(t_bullet ({t_bullet}) + t_0 ({t_0}))")
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+3219: assert t_rot_ts == discrete_solution[2] # REMOVE_FOR_COMPETITION
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3227:
3228:
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3286: # return_value = not is_asteroid_in_list(asteroids_pending_death[current_timestep], asteroid, game_state)
3287: #asteroid_new_track_total_time += time.perf_counter() - start_time
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3289: else:
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3291: # print(asteroids_pending_death) # REMOVE_FOR_COMPETITION
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3293: #asteroid_new_track_total_time += time.perf_counter() - start_time
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3295:
3296:
+3297: def time_travel_asteroid(asteroid: Asteroid, timesteps: int, game_state: GameState) -> Asteroid:
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3298: '''Project an asteroid into the future or past. This automatically wraps the asteroid's position'''
3299: # The ts=0 shortcut isn't good because it doesn't wrap the asteroid!
3300: #if timesteps == 0:
3301: #print("WARNING: Time travelling asteroid by 0 timesteps! If this is rare, it's no cause for concern")
3302: #return asteroid.copy()
+3303: return Asteroid(
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+3304: px = (asteroid.px + float(timesteps)*asteroid.vx*DELTA_TIME) % game_state.map_size_0,
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+3305: py = (asteroid.py + float(timesteps)*asteroid.vy*DELTA_TIME) % game_state.map_size_1,
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+3306: vx = asteroid.vx,
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+3307: vy = asteroid.vy,
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+3308: size=asteroid.size,
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+3309: mass=asteroid.mass,
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+3311: timesteps_until_appearance=asteroid.timesteps_until_appearance
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3312: )
3313:
3314:
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3316: '''Project an asteroid into the future or past. This automatically wraps the asteroid's position'''
3317: # The ts=0 shortcut isn't good because it doesn't wrap the asteroid!
3318: #if timesteps == 0:
3319: #print("WARNING: Time travelling asteroid by 0 timesteps! If this is rare, it's no cause for concern")
3320: #return asteroid.copy()
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3328: )
3329:
3330:
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3332: # Simulates kessler_game.py and ship.py and other game mechanics
3333: # Has built-in controllers to do stationary targeting, maneuvers, and respawn maneuvers
3334: # Has fitness function to evaluate the set of moves, along with the end state
3335: # Can then extract the maneuver along with the future state, to execute the maneuver, and begin planning based on the future state before we actually get there
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+3363: self.halt_shooting: bool = halt_shooting # This probably means we're doing a respawn maneuver
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3383: # This is to facilitate my two-pass respawn maneuvers. The first pass doesn't shoot, and records when we will no longer hit asteroids. The second pass will begin targeting after the ship is clear from asteroids, since after shooting the respawn invincibility will be gone
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3385: # 0 - Not a respawn maneuver, 1 - First pass of respawn maneuver, 2 - Second pass of respawn maneuver
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3389: #print(f"Simulating first pass of respawn maneuver! Halt shooting status is {self.halt_shooting}, {fire_first_timestep=}") # REMOVE_FOR_COMPETITION
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3393: #print(f"Simulating second pass of respawn maneuver! Halt shooting status is {self.halt_shooting}, {fire_first_timestep=}") # REMOVE_FOR_COMPETITION
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3396: # Define the random walks for shooting while maneuvering
3397: # If we just do a random walk (bias = 0.5), we get a normal distribution. If we do a uniformly distributed bias, then the final random walk will also be uniformly distributed!
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+3399: self.random_walk_schedule: list[bool] = [random.random() < bias for _ in range(RANDOM_WALK_SCHEDULE_LENGTH)] # True means left, False means right. For shot number n, self.random_walk_schedule[n] tells us which direction we need to do the turning to make the shot in.
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3478: # debug_print(f"Inside get fitness, we shot {self.asteroids_shot} asteroids. getting extrapolated collision time. The ship's velocity is: ({self.ship_state.vx}, {self.ship_state.vy})")
3479: # Assume constant velocity from here
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3481: # print('Extrapolating stuff at rest in end')
3482: # The asteroids from the game state could have been from the future since we waited out the mines, but the forecasted splits are from present time, so we need to treat them differently and only back-extrapolate the existing asteroids and not the forecasted ones
3483: # print(f"Forecasted splits: {self.forecasted_asteroid_splits}")
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3487: # print(f"Checking collision with asteroid: {ast_to_string(asteroid)} on timestep {self.initial_timestep + self.future_timesteps}")
3488: # debug_print(f"Future timesteps: {self.future_timesteps}, timesteps to not check collision for: {self.timesteps_to_not_check_collision_for}")
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goto __pyx_L17;
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3511: # We're already shooting the asteroid. Check whether the imminent collision time is before or after the asteroid is eliminated
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3517: # if self.sim_id == 13974:
3518: # print(f"Getting extrapolated next coll time for unwrapped asteroid {ast_to_string(a)}. Initial TS: {self.initial_timestep}, future TS: {self.future_timesteps}, additional timesteps to blow up mines: {additional_timesteps_to_blow_up_mines}, predicted collision additional ts: {predicted_collision_ts}")
3519: # print(self.asteroids_pending_death)
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3521: # In the future time the asteroid has already been eliminated, so there won't actually be a collision
3522: # debug_print("In the future time the asteroid has already been eliminated, so there won't actually be a collision")
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goto __pyx_L5_continue;
3524: else:
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3529: #else:
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3532: # pass
3533: # else:
3534: # debug_print(f"Inside extrapolated coll time checker. We already have a pending shot for this so we'll ignore this asteroid: {ast_to_string(asteroid)}")
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3652: # But also, in what situation would I have already shot at those asteroids?
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3655: # But say we have case A where I do a maneuver and don’t shoot the asteroids.
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3765:
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3788: # This doesn't properly account for multiple mines! But that's alright, I don't want to make this too complicated and have to do an asteroids prediction after every mine blows up and split the timeline into intervals where asteroids change trajectories, although that is possible to implement
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3793: # This assertion is false because it doesn't take into account the existence of other mines. If there was a mine about to blow up, and another fresh mine, then the first mine can blow me up before an asteroid or the fresh mine hits me
3794: #assert is_close(safe_time_after_maneuver_s, next_extrapolated_asteroid_collision_time), f"{safe_time_after_maneuver_s=} != {next_extrapolated_asteroid_collision_time=}, and {next_extrapolated_asteroid_collision_time_after_mines=}, {next_extrapolated_mine_collision_time=}, {additional_timesteps_to_blow_up_mines*DELTA_TIME=}"
3795: else:
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__pyx_L30:;
3797: # if not isinf(next_extrapolated_asteroid_collision_time_before_mines_blew_up):
3798: # print(f"Next extrap time before mines: {next_extrapolated_asteroid_collision_time_before_mines_blew_up}, and after mines: {next_extrapolated_asteroid_collision_time}, and we waited this many ts for mines to blow up: {additional_timesteps_to_blow_up_mines} which is {additional_timesteps_to_blow_up_mines*DELTA_TIME}s")
3799: #states = self.get_state_sequence()
+3800: overall_safe_time_fitness = sigmoid(safe_time_after_maneuver_s, 2.9, 1.4)
__pyx_t_9 = NULL; __Pyx_GetModuleGlobalName(__pyx_t_4, __pyx_mstate_global->__pyx_n_u_sigmoid); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 3800, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); __pyx_t_5 = 1; #if CYTHON_UNPACK_METHODS if (unlikely(PyMethod_Check(__pyx_t_4))) { __pyx_t_9 = PyMethod_GET_SELF(__pyx_t_4); assert(__pyx_t_9); PyObject* __pyx__function = PyMethod_GET_FUNCTION(__pyx_t_4); __Pyx_INCREF(__pyx_t_9); __Pyx_INCREF(__pyx__function); __Pyx_DECREF_SET(__pyx_t_4, __pyx__function); __pyx_t_5 = 0; } #endif { PyObject *__pyx_callargs[4] = {__pyx_t_9, __pyx_v_safe_time_after_maneuver_s, __pyx_mstate_global->__pyx_float_2_9, __pyx_mstate_global->__pyx_float_1_4}; __pyx_t_10 = __Pyx_PyObject_FastCall(__pyx_t_4, __pyx_callargs+__pyx_t_5, (4-__pyx_t_5) | (__pyx_t_5*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0; if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3800, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); } __pyx_v_overall_safe_time_fitness = __pyx_t_10; __pyx_t_10 = 0;
3801:
+3802: ship_start_position_x = states[0].ship_state.px
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+3803: ship_start_position_y = states[0].ship_state.py
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3804:
+3805: ship_end_position_x = states[-1].ship_state.px
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+3806: ship_end_position_y = states[-1].ship_state.py
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3807:
3808:
+3809: if len(states) >= 2:
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+3810: displacement = dist(ship_start_position_x, ship_start_position_y, ship_end_position_x, ship_end_position_y)
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3811: else:
+3812: displacement = 0.0
/*else*/ {
__Pyx_INCREF(__pyx_mstate_global->__pyx_float_0_0);
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__pyx_L34:;
+3813: asteroid_safe_time_fitness = get_asteroid_safe_time_fitness(next_extrapolated_asteroid_collision_time, displacement, move_sequence_length_s)
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+3814: if displacement < EPS or self.respawn_maneuver_pass_number > 0:
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3815: # Stationary targeting or respawn maneuver
+3816: self_ship_positions = [(ship_end_position_x, ship_end_position_y)]
__pyx_t_10 = PyTuple_New(2); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3816, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_INCREF(__pyx_v_ship_end_position_x); __Pyx_GIVEREF(__pyx_v_ship_end_position_x); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_10, 0, __pyx_v_ship_end_position_x) != (0)) __PYX_ERR(0, 3816, __pyx_L1_error); __Pyx_INCREF(__pyx_v_ship_end_position_y); __Pyx_GIVEREF(__pyx_v_ship_end_position_y); if (__Pyx_PyTuple_SET_ITEM(__pyx_t_10, 1, __pyx_v_ship_end_position_y) != (0)) __PYX_ERR(0, 3816, __pyx_L1_error); __pyx_t_9 = PyList_New(1); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3816, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_GIVEREF(__pyx_t_10); if (__Pyx_PyList_SET_ITEM(__pyx_t_9, 0, __pyx_t_10) != (0)) __PYX_ERR(0, 3816, __pyx_L1_error); __pyx_t_10 = 0; __pyx_v_self_ship_positions = ((PyObject*)__pyx_t_9); __pyx_t_9 = 0;
3817: else:
3818: # Regular maneuver
3819: #self_ship_positions = [states[len(states)//2]['ship_state'].position, states[len(states)*3//4]['ship_state'].position, ship_end_position]
+3820: self_ship_positions = [s.ship_state.position for s in states]
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__pyx_L35:;
3821: # This assertion won't hold when the ship takes a long time to rotate at the start
3822: # assert not (isclose(ship_start_px, self_ship_positions[0][0]) and isclose(ship_start_py, self_ship_positions[0][1])), f"Ship states: {[s['ship_state'] for s in states]}"
3823:
+3824: other_ship_proximity_fitness = get_other_ship_proximity_fitness(self_ship_positions)
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+3825: sequence_length_fitness = get_sequence_length_fitness(move_sequence_length_s, displacement)
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3826:
+3827: crash_fitness = get_crash_fitness()
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3828:
+3829: if self.sim_placed_a_mine:
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_sim_placed_a_mine); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3829, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3829, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L45; }
3830: #if mine_safe_time_fitness > 0.8:
3831: # placed_mine_fitness = 1.0
3832: #else:
3833: # placed_mine_fitness = 0.5
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__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3834, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_t_9, __pyx_mstate_global->__pyx_n_u_lives_remaining); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3834, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_9 = PyObject_RichCompare(__pyx_t_10, __pyx_mstate_global->__pyx_int_3, Py_GE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3834, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3834, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L46; }
+3835: placed_mine_fitness = 1.0
__Pyx_INCREF(__pyx_mstate_global->__pyx_float_1_0);
__pyx_v_placed_mine_fitness = __pyx_mstate_global->__pyx_float_1_0;
3836: else:
+3837: placed_mine_fitness = mine_safe_time_fitness
/*else*/ {
__Pyx_INCREF(__pyx_v_mine_safe_time_fitness);
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}
__pyx_L46:;
3838: else:
+3839: placed_mine_fitness = 0.0
/*else*/ {
__Pyx_INCREF(__pyx_mstate_global->__pyx_float_0_0);
__pyx_v_placed_mine_fitness = __pyx_mstate_global->__pyx_float_0_0;
}
__pyx_L45:;
3840:
3841: # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}")
3842: # self.explanation_messages.append(f"Fitness: {asteroid_safe_time_score + mine_safe_time_score + asteroids_score + sequence_length_score + displacement_score}, Ast safe time score: {asteroid_safe_time_score} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_score}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_score}, sequence length score: {sequence_length_score}, displacement score: {displacement_score}, other ship prox score: {other_ship_proximity_score}")
3843: # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_fitness}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}, crash_score: {crash_fitness}")
+3844: if asteroid_safe_time_fitness < 0.1:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_1, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3844, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3844, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L47; }
+3845: self.safety_messages.append(f"I'm dangerously close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3845, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_10 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3845, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_h; __pyx_t_20[1] = __pyx_t_10; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver; __pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 86 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_10) + 56, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_10)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3845, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_t_6); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3845, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
+3846: elif asteroid_safe_time_fitness < 0.4:
__pyx_t_6 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3846, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_6); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3846, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L47; }
+3847: self.safety_messages.append(f"I'm close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s).")
__pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3847, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_9 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3847, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_close_to_being_hit_by_astero; __pyx_t_20[1] = __pyx_t_9; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s; __pyx_t_10 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 74 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9)); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3847, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_6, __pyx_t_10); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3847, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0;
+3848: elif asteroid_safe_time_fitness < 0.8:
__pyx_t_10 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_8, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3848, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3848, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (__pyx_t_2) { /* … */ } __pyx_L47:;
+3849: self.safety_messages.append(f"I'll eventually get hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Keeping my eye out for a dodge maneuver.")
__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3849, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_6 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_asteroid_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3849, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_ll_eventually_get_hit_by_aster; __pyx_t_20[1] = __pyx_t_6; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Keeping_my_eye_out_for_a_dodge; __pyx_t_9 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 75 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_6) + 44, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_6)); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3849, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_10, __pyx_t_9); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3849, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
3850:
+3851: if mine_safe_time_fitness < 0.1:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_1, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3851, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3851, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L48; }
+3852: self.safety_messages.append(f"I'm dangerously close to being kablooied by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3852, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_10 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3852, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_k; __pyx_t_20[1] = __pyx_t_10; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver; __pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 70 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_10) + 56, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_10)); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3852, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_t_6); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3852, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
+3853: elif mine_safe_time_fitness < 0.4:
__pyx_t_6 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3853, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_6); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3853, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L48; }
+3854: self.safety_messages.append(f"I'm close to being boomed by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
__pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3854, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_9 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3854, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_close_to_being_boomed_by_a_m; __pyx_t_20[1] = __pyx_t_9; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s; __pyx_t_10 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 55 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9)); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3854, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_6, __pyx_t_10); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3854, __pyx_L1_error) __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0;
+3855: elif mine_safe_time_fitness < 0.9:
__pyx_t_10 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_9, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3855, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_10); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3855, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; if (__pyx_t_2) { /* … */ } __pyx_L48:;
+3856: self.safety_messages.append(f"I'm within the radius of a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 3856, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_6 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 3856, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_6); __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_within_the_radius_of_a_mine; __pyx_t_20[1] = __pyx_t_6; __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s; __pyx_t_9 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 51 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_6) + 3, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_6)); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3856, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0; __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_10, __pyx_t_9); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3856, __pyx_L1_error) __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
3857:
+3858: if other_ship_proximity_fitness < 0.2:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_2, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3858, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3858, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ goto __pyx_L49; }
+3859: self.safety_messages.append("I'm dangerously close to the other ship. Get away from me!")
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3859, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_the_oth); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3859, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
+3860: elif other_ship_proximity_fitness < 0.5:
__pyx_t_9 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_5, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3860, __pyx_L1_error) __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3860, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ } __pyx_L49:;
+3861: self.safety_messages.append("I'm near the other ship. Being cautious.")
__pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3861, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_9, __pyx_mstate_global->__pyx_kp_u_I_m_near_the_other_ship_Being_ca); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 3861, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
3862:
3863: # Use fuzzy "AND" by averaging the fuzzy outputs
+3864: if ENABLE_SANITY_CHECKS: # REMOVE_FOR_COMPETITION
__Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3864, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_9); __pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3864, __pyx_L1_error) __Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0; if (__pyx_t_2) { /* … */ }
+3865: assert 0.0 <= asteroid_safe_time_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_9 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_asteroid_safe_time_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3865, __pyx_L1_error)
if (__Pyx_PyObject_IsTrue(__pyx_t_9)) {
__Pyx_DECREF(__pyx_t_9);
__pyx_t_9 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_1_0, Py_LE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3865, __pyx_L1_error)
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__pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3865, __pyx_L1_error)
__Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
__PYX_ERR(0, 3865, __pyx_L1_error)
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if ((1)); else __PYX_ERR(0, 3865, __pyx_L1_error)
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+3866: assert 0.0 <= mine_safe_time_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_9 = PyObject_RichCompare(__pyx_mstate_global->__pyx_float_0_0, __pyx_v_mine_safe_time_fitness, Py_LE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3866, __pyx_L1_error)
if (__Pyx_PyObject_IsTrue(__pyx_t_9)) {
__Pyx_DECREF(__pyx_t_9);
__pyx_t_9 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_1_0, Py_LE); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3866, __pyx_L1_error)
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__pyx_t_2 = __Pyx_PyObject_IsTrue(__pyx_t_9); if (unlikely((__pyx_t_2 < 0))) __PYX_ERR(0, 3866, __pyx_L1_error)
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__PYX_ERR(0, 3866, __pyx_L1_error)
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if ((1)); else __PYX_ERR(0, 3866, __pyx_L1_error)
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+3867: assert -1.0 <= asteroids_fitness <= 1.0 # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
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+3868: assert 0.0 <= sequence_length_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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+3869: assert 0.0 <= other_ship_proximity_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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+3870: assert 0.0 <= crash_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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+3871: assert 0.0 <= asteroid_aiming_cone_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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+3872: assert 0.0 <= placed_mine_fitness <= 1.0 # REMOVE_FOR_COMPETITION
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+3873: fitness_breakdown = (asteroid_safe_time_fitness, mine_safe_time_fitness, asteroids_fitness, sequence_length_fitness, other_ship_proximity_fitness, crash_fitness, asteroid_aiming_cone_fitness, placed_mine_fitness, overall_safe_time_fitness)
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3877: else:
3878: # It might seem counterintuitive to weigh being near a mine to be worse than dying. But the issue with being near a mine, is that it can very easily lead to losing MULTIPLE lives, because if you get hit by an asteroid, and then not have time to clear the blast radius, you'll lose two lives. So yes, being near a mine can be worse than dying!
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__Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_mstate_global->__pyx_n_u_DEFAULT_FITNESS_WEIGHTS); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 3879, __pyx_L1_error)
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3880: # print(fitness_weights)
3881: # overall_fitness = weighted_average(fitness_breakdown, fitness_weights)
3882: # print(fitness_breakdown, fitness_weights)
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+3884: assert 0.0 <= overall_fitness <= 1.0 or asteroids_fitness < 0.0, f"Overall fitness of {overall_fitness} is out of range! Fitness breakdown: {fitness_breakdown}" # REMOVE_FOR_COMPETITION
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3885: # self.explanation_messages.append(f"Chose the sim with fitnesses: {overall_fitness=}, {asteroid_safe_time_fitness=}, {mine_safe_time_fitness=}, {asteroids_fitness=}, {sequence_length_fitness=}, {other_ship_proximity_fitness=}, {crash_fitness=}, {asteroid_aiming_cone_fitness=}")
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3888: #else:
3889: # pass
3890: # self.safety_messages.append(f"Stationary sim had fitnesses: {overall_fitness=}, {asteroid_safe_time_fitness=}, {mine_safe_time_fitness=}, {asteroids_fitness=}, {sequence_length_fitness=}, {other_ship_proximity_fitness=}, {crash_fitness=}, {asteroid_aiming_cone_fitness=}")
3891: # The overall_fitness is the fuzzy output. There's no need to defuzzify it since we're using this as a fitness value to rank the actions and future states
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3893:
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3930: # The job of this method is to calculate how to hit each asteroid, and then pick the best one to try to target
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3932: '''
3933: Uses the bullet sim to check whether we'll hit a target, and which target we end up hitting since we might hit an asteroid in front of our intended target
3934: target_asteroid_original: Our target asteroid
3935: target_asteroid_shooting_angle_error_deg: The amount in degrees the ship needs to turn to be able to shoot the target
3936: target_asteroid_interception_time_s: The time in seconds between firing and hitting the center of the target. The turning time is not included!
3937: target_asteroid_turning_timesteps: The number of timesteps we need to turn for before shooting. Well, we might require fewer timesteps than this, but this is the prescribed number of timesteps we must wait out until we shoot, to be able to hit our target.
3938: '''
3939:
3940: # Just because we're lined up for a shot doesn't mean our shot will hit, unfortunately.
3941: # Bullets and asteroids travel in discrete timesteps, and it's possible for the bullet to miss the asteroid hitbox between timesteps, where the interception would have occurred on an intermediate timestep.
3942: # This is unavoidable, and we just have to choose targets that don't do this.
3943: # If the asteroids are moving slow enough, this should be rare, but especially if small asteroids are moving very quickly, this issue is common.
3944: # A simulation will easily show whether this will happen or not
3945: # debug_print(f"The last timestep fired is {self.last_timestep_fired}")
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3952: # debug_print(f'aiming move seq before append, and ts until can fire is {timesteps_until_can_fire}')
3953: # debug_print(aiming_move_sequence)
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3956: # debug_print('aiming move seq after append')
3957: # debug_print(aiming_move_sequence)
+3958: asteroid_advance_timesteps = len(aiming_move_sequence)
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3959: # debug_print(f"Asteroid advanced timesteps: {asteroid_advance_timesteps}")
3960: # debug_print(f"Targetting turning timesteps: {target_asteroid_turning_timesteps}")
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+3962: assert asteroid_advance_timesteps <= target_asteroid_turning_timesteps or target_asteroid_turning_timesteps == 0 # REMOVE_FOR_COMPETITION
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3964: # We're given a budget of target_asteroid_turning_timesteps timesteps to turn, however we find that the turn actually required fewer timesteps than that. We still need to wait the full number, so we just pad with null actions to wait out the time. This case should be super rare.
3965: # debug_print(f"asteroid_advance_timesteps {asteroid_advance_timesteps} < target_asteroid_turning_timesteps {target_asteroid_turning_timesteps}")
3966: #aiming_move_sequence.extend([cast(Action, {'thrust': 0.0, 'turn_rate': 0.0, 'fire': False})]*(target_asteroid_turning_timesteps - asteroid_advance_timesteps))
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3979:
3980: # First, find the most imminent asteroid
3981: # print('\nGOING INTO FUNCTION TO GET ALL FEASIBLE TARGETS FOR ASTEROIDS')
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3988: vx = 0.0,
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4020: # print(f"\nOn TS {self.initial_timestep + self.future_timesteps} We do not have a pending shot for the asteroid {ast_to_string(asteroid)}")
4021:
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4035: # Keep track of whose mine this is. If it's mine, I want more asteroids to be in its blast radius so it does more damage. If it's theirs, I want to shoot asteroids within its blast radius so it does less damage.
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+4037: asteroid_will_get_hit_by_my_mine = True
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4038: #print('WILL BE HIT BY MY MINE')
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if (__pyx_v_asteroid_will_get_hit_by_their_mine) {
/* … */
}
+4040: break
goto __pyx_L8_break;
4041: else:
4042: #print('WILL BE HIT BY THEIR MINE')
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/* … */
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goto __pyx_L8_break;
4046: # Iterate through all unwrapped asteroids to find which one of the unwraps is the best feasible target.
4047: # 99% of the time, only one of the unwraps will have a feasible target, but there's situations where we could either shoot the asteroid before it wraps, or wait for it to wrap and then shoot it.
4048: # In these cases, we need to pick whichever option is the fastest when factoring in turn time and waiting time.
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4088: # print(target_asteroids_list)
4089: # if there’s an imminent shot coming toward me, I will aim at the asteroid that gets me CLOSEST to the direction of the imminent shot.
4090: # So it only plans one shot at a time instead of a series of shots, and it’ll keep things simpler
4091: # debug_print(f"Least angular dist: {least_angular_distance_asteroid_shooting_angle_error_deg}")
4092: # debug_print('Target asts list: ', target_asteroids_list)
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4098:
4099: # debug_print(f"Shooting at most imminent asteroids. Most imminent collision time is {most_imminent_collision_time_s}s with turn angle error {most_imminent_asteroid_shooting_angle_error_deg}")
4100: # debug_print(most_imminent_asteroid)
4101: # Find the asteroid I can shoot at that gets me closest to the imminent shot, if I can't reach the imminent shot in time until I can shoot
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4103: # If there's a bullet limit, penalize risky shots more
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4122: ))
4123: # The frontrun time is bounded by 0 and 0.5 seconds, since anything after half a second away is basically the same and there's no point differentiating between them
4124: # TODO: For each asteroid, give it a couple feasible times where we wait longer and longer. This way we can choose to wait a timestep to fire again if we'll get luckier with the bullet lining up
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4127: # Ran through all imminent asteroids! Everything onward won't collide with me anytime soon.
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goto __pyx_L37_break;
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4133: # debug_print(f"Shooting at asteroid that's going to hit me: {ast_to_string(most_imminent_asteroid)}")
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4137: # I can reach the imminent shot without wasting a shot opportunity, so do it
4138: #assert isinstance(most_imminent_asteroid, Asteroid)
4139: #assert isinstance(most_imminent_asteroid_shooting_angle_error_deg, float)
4140: #assert isinstance(most_imminent_asteroid_interception_time_s, float)
4141: #assert isinstance(most_imminent_asteroid_aiming_timesteps, int)
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4157: # debug_print(f"Turn angle deg until we can fire (max 18 degrees): {turn_angle_deg_until_can_fire}")
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4159: # debug_print("The imminent shot requires us to turn the ship to the left")
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4162: # We're underturning too much, so instead find the next overturn
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4168: # print("Found the next target to the right:")
4169: # print(target)
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4171: # We're underturning too much, so instead find the next overturn
4172: # debug_print("Underturning too much, so instead find the next overturn to the right")
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4174: # print(target)
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4176: # debug_print('As our target were choosing this one which will be on our way:')
4177: # debug_print(target)
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4185: # print(f"DANG IT, we're shooting something on the way to the most imminent asteroid, but we'll miss this particular one!")
4186: else:
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4222: ))
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4228: #least_shot_delay_asteroid = cast(Asteroid, least_shot_delay_asteroid)
4229: #assert isinstance(least_shot_delay_asteroid_shooting_angle_error_deg, float)
4230: #assert isinstance(least_shot_delay_asteroid_interception_time_s, float)
4231: #assert isinstance(least_shot_delay_asteroid_aiming_timesteps, int)
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4233: # actual_asteroid_hit is at the timestep (self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid)
4234: # The timesteps_until_bullet_hit_asteroid time INCLUDES the aiming time!
4235: # The reason we can't just check whether the asteroid in the future has a pending shot, and we have to back-extrapolate to when we fire, is that, say I do a shot at time 0, and it’ll hit the ast at time 10. If at time 8, I check whether I’ve shot at the asteroid already, and say it’ll take 5 timesteps to hit it. I need to check at time 8, NOT TIME 13! Time 13 is after the original shot hits it, so I can’t be checking it after. So THAT’S WHY I should be back-projecting the asteroid.
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4246: # Pick a direction to turn the ship anyway, just to better line it up with more shots
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/* … */
goto __pyx_L74;
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4265:
4266: # debug_print('Closest ang asteroid:')
4267: # debug_print(target_asteroids_list[least_angular_distance_asteroid_index])
4268: # debug_print('Second closest ang asteroid:')
4269: # debug_print(target_asteroids_list[second_least_angular_distance_asteroid_index])
4270:
4271: # print(f"Bullet should have been fired on simulated timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
4272:
4273: # The following code is confusing, because we're working with different times.
4274: # We need to make sure that when we talk about an asteroid, we talk about its position at a specific time. If the time we talk about is not synced up with the position, everything's wrong.
4275: # So if an asteroid is on position 1 at time 1, position 2 at time 2, position 3 at time 3, etc, then we must associate the asteroid with a timestep.
4276: # A smarter, less buggy way to store asteroids is to include not only their position, but their timestep as well. But too late.
4277: # Timestep [self.initial_timestep + self.future_timesteps] is the current timestep, or the timestep the sim was started on. Future timesteps should be 0 so far since we haven't moved.
4278: # Timestep [self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)] gives us the timestep after we do our aiming, and when we shoot our bullet
4279: # Timestep [self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid] gives us the timestep the asteroid got hit
4280:
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/* … */
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+4282: assert timesteps_until_bullet_hit_asteroid is not None
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4285: # Added one to the timesteps to prevent off by one :P
4286: #print('WITHHOLDING SHOT IN TARGET SELECTION BECAUSE SCENARIO IS ENDING')
+4287: self.fire_next_timestep_flag = False
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+4288: sim_complete_without_crash = self.update(0.0, 0.0, False, False)
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4290: # TODO: This following statement, doesn't this mean if I accidentally hit something in the way that I already shot, then I just won't even try to shoot at all? Even though the bullet should still hit what's behind it some of the time at least?
4291: # TODO: Or maybe this case isn't even possible because I do the sim to make sure that I hit whatever I wanted to hit, and if I had a pending shot, that shot would have hit it so this would never happen!
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4293: # We can't seem to hit anything on this timestep. Maybe the asteroids are done being shot, or maybe we can't hit them because of the way things are lined up and the bullets skip over the asteroids, idk.
4294: # if ENABLE_ASSERTIONS and actual_asteroid_hit is not None:
4295: # TODO: This is testing above theory to see if it holds
4296: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence), self.game_state, actual_asteroid_hit_when_firing), f"WTH this asteroid: {actual_asteroid_hit_when_firing}, whole freaking dict: {self.asteroids_pending_death}"
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4298: # print("We can't hit anything this timestep.")
+4299: if asteroids_still_exist:
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/* … */
goto __pyx_L83;
}
4300: # print('asteroids still exist')
+4301: if random.randint(1, 10) == 1:
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+4302: self.explanation_messages.append("Asteroids exist but we can't hit them. Moving around a bit randomly.")
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4303: # Setting this to -1 is a signal to set the asteroid fitness really low, so hopefully we'll choose actions that'll move around
+4304: self.asteroids_shot -= 1
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4305: # turn_direction = random.random()
4306: # idle_thrust = random.triangular(0, SHIP_MAX_THRUST, 0)
+4307: turn_direction = 0
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4310: # print('asteroids DO NOT exist')
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4313: # print(f"Calling update from targ sel:")
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__Pyx_INCREF(__pyx_t_25);
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__Pyx_GOTREF(__pyx_t_8);
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__Pyx_GOTREF(__pyx_t_8);
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__Pyx_Raise(__pyx_builtin_AssertionError, __pyx_t_24, 0, 0);
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4318: else:
4319: # We're able to hit an asteroid! We're committing to it.
+4320: assert timesteps_until_bullet_hit_asteroid is not None
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if (unlikely(__pyx_assertions_enabled())) {
if (unlikely(!__pyx_v_timesteps_until_bullet_hit_asteroid)) { __Pyx_RaiseUnboundLocalError("timesteps_until_bullet_hit_asteroid"); __PYX_ERR(0, 4320, __pyx_L1_error) }
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
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4321: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit)} on timestep {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid}")
+4322: if ENABLE_SANITY_CHECKS: # REMOVE_FOR_COMPETITION
__Pyx_GetModuleGlobalName(__pyx_t_24, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_24)) __PYX_ERR(0, 4322, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_24); __pyx_t_18 = __Pyx_PyObject_IsTrue(__pyx_t_24); if (unlikely((__pyx_t_18 < 0))) __PYX_ERR(0, 4322, __pyx_L1_error) __Pyx_DECREF(__pyx_t_24); __pyx_t_24 = 0; if (__pyx_t_18) { /* … */ }
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__Pyx_GetModuleGlobalName(__pyx_t_8, __pyx_mstate_global->__pyx_n_u_check_whether_this_is_a_new_aste_2); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 4323, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_8);
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__pyx_t_24 = __Pyx_PyObject_FastCall(__pyx_t_8, __pyx_callargs+__pyx_t_11, (5-__pyx_t_11) | (__pyx_t_11*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
__Pyx_XDECREF(__pyx_t_22); __pyx_t_22 = 0;
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4324: # print(f"Current timestep: {self.initial_timestep + self.future_timesteps}, and the aiming maneuver is {len(aiming_move_sequence)}")
4325: # print(self.asteroids_pending_death)
4326: # actual_asteroid_hit_when_firing = time_travel_asteroid(actual_asteroid_hit, len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid, self.game_state)
4327: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_when_firing)} on timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
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__Pyx_GetModuleGlobalName(__pyx_t_21, __pyx_mstate_global->__pyx_n_u_check_whether_this_is_a_new_aste_2); if (unlikely(!__pyx_t_21)) __PYX_ERR(0, 4329, __pyx_L1_error)
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4330: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1, self.game_state, actual_asteroid_hit_when_firing)
4331:
4332: # actual_asteroid_hit_UNEXTRAPOLATED = dict(actual_asteroid_hit)
4333: # This back-extrapolates the asteroid to when we're firing our bullet
4334:
4335: #debug_print(f"We used a sim to forecast the asteroid that we'll hit being the one at pos ({actual_asteroid_hit.px}, {actual_asteroid_hit.py}) with vel ({actual_asteroid_hit.vx}, {actual_asteroid_hit.vy}) in {timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence)} timesteps")
4336: #debug_print(f"The primitive forecast would have said we'd hit asteroid at pos ({target_asteroid.px}, {target_asteroid.py}) with vel ({target_asteroid.vx}, {target_asteroid.vy}) in {calculate_timesteps_until_bullet_hits_asteroid(target_asteroid_interception_time_s, target_asteroid.radius)} timesteps")
4337: # print(self.asteroids_pending_death)
4338: # print(f"\nTracking that we just shot at the asteroid {ast_to_string(actual_asteroid_hit)}, our intended target was {target_asteroid}")
4339: # actual_asteroid_hit_UNEXTRAPOLATED = extrapolate_asteroid_forward(actual_asteroid_hit, -(len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid), self.game_state, True)
+4340: actual_asteroid_hit_at_present_time = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid, self.game_state)
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+4342: actual_asteroid_hit_at_present_time_for_plotting = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid - 1, self.game_state) # REMOVE_FOR_COMPETITION
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4344: # actual_asteroid_hit_tracking_purposes_super_early = extrapolate_asteroid_forward(actual_asteroid_hit, )
4345: # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} on timestep {self.initial_timestep + self.future_timesteps}")
4346: # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + 0*len(aiming_move_sequence), self.game_state, actual_asteroid_hit_at_present_time)
4347: # print(f'\n\nTracking that we shot at the asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} at the timestep after turning {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1}')
4348: # print(self.asteroids_pending_death)
4349: # debug_print(f"Move seq is len {len(aiming_move_sequence)} and is {aiming_move_sequence}")
4350: # debug_print(f"We're in the future by {self.future_timesteps} timesteps")
4351: # actual_asteroid_hit_when_firing['trace'] = f"Asteroid added from target selection sim id {self.sim_id}, self.initial_timestep {self.initial_timestep} self.future_timesteps {self.future_timesteps} aiming_move_sequence {aiming_move_sequence}"
4352:
4353: # debug_print('Were gonna fire the next timestep! Printing out the move sequence:', aiming_move_sequence)
4354: # TODO: Currently Neo can't fire on timestep 1! Fix this! Although it's only a minor issue.
+4355: future_ts_backup = self.future_timesteps
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4356: # Forecasted splits get progressed while doing the move sequence which includes rotation, so we need to start the forecast before the rotation even starts
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4358: #print("Calling forecast ast bull splits from targ sel")
+4359: self.forecasted_asteroid_splits.extend(forecast_asteroid_bullet_splits_from_heading(actual_asteroid_hit_at_present_time, timesteps_until_bullet_hit_asteroid, ship_state_after_aiming.heading, self.game_state))
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4360: # print(f"In targeting, Forecasted asteroid splits on ts {self.initial_timestep + self.future_timesteps} is {self.forecasted_asteroid_splits}")
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4363: # We only do, and track the shot if the sim completed without death
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+4366: assert future_ts_backup + len(aiming_move_sequence) == self.future_timesteps # REMOVE_FOR_COMPETITION
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4367: #if is_close(-10.0, actual_asteroid_hit_when_firing.vx):
4368: # print(f"\nSHOT AT THE ASTEROID IN TARGET SELECTION on timestep {self.initial_timestep=} {self.future_timesteps=}")
+4369: track_asteroid_we_shot_at(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps, self.game_state, timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence), actual_asteroid_hit_when_firing)
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4370: # print(f"self.asteroids_pending_death updated to {self.asteroids_pending_death[100]}")
4371: # print(self.asteroids_pending_death)
4372: else:
4373: # If we died, we're gonna do a respawn maneuver and we won't shoot because that will remove our 3 second respawn invincibility immediately
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4375: # print('THE ACTUAL MOVE SEQUENCE WE GET BACK FROM THE SIM:')
4376: # print(self.ship_move_sequence)
4377: # debug_print(f"Sim id {self.sim_id} is returning from target sim with success value {sim_complete_without_crash}")
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4380:
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4433: # Simulate bullets
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__pyx_t_3 = __pyx_v_bullets; __Pyx_INCREF(__pyx_t_3);
__pyx_t_8 = 0;
for (;;) {
{
Py_ssize_t __pyx_temp = __Pyx_PyList_GET_SIZE(__pyx_t_3);
#if !CYTHON_ASSUME_SAFE_SIZE
if (unlikely((__pyx_temp < 0))) __PYX_ERR(0, 4436, __pyx_L1_error)
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if (__pyx_t_8 >= __pyx_temp) break;
}
__pyx_t_7 = __Pyx_PyList_GetItemRef(__pyx_t_3, __pyx_t_8);
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if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 4436, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_7);
__Pyx_XDECREF_SET(__pyx_v_b, __pyx_t_7);
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__pyx_v_b_ind = __pyx_t_15;
__pyx_t_15 = (__pyx_t_15 + 1);
/* … */
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__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
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__Pyx_GetModuleGlobalName(__pyx_t_9, __pyx_mstate_global->__pyx_n_u_check_coordinate_bounds); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4438, __pyx_L1_error)
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assert(__pyx_t_21);
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__Pyx_XDECREF(__pyx_t_21); __pyx_t_21 = 0;
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__Pyx_DECREF(__pyx_t_9); __pyx_t_9 = 0;
if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 4438, __pyx_L1_error)
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__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
if (__pyx_t_14) {
/* … */
goto __pyx_L62;
}
+4439: b.position = new_bullet_pos
if (__Pyx_PyObject_SetAttrStr(__pyx_v_b, __pyx_mstate_global->__pyx_n_u_position_2, __pyx_v_new_bullet_pos) < 0) __PYX_ERR(0, 4439, __pyx_L1_error)
4440: else:
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__Pyx_GOTREF(__pyx_t_5);
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__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
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+4443: bullets = [bullet for idx, bullet in enumerate(bullets) if idx not in bullet_remove_idxs]
{ /* enter inner scope */
__pyx_t_3 = PyList_New(0); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 4443, __pyx_L67_error)
__Pyx_GOTREF(__pyx_t_3);
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for (;;) {
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if (__pyx_t_8 >= __pyx_temp) break;
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__pyx_t_9 = __Pyx_PyList_GetItemRef(__pyx_t_5, __pyx_t_8);
++__pyx_t_8;
if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4443, __pyx_L67_error)
__Pyx_GOTREF(__pyx_t_9);
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goto __pyx_L72_exit_scope;
__pyx_L67_error:;
__Pyx_XDECREF(__pyx_9genexpr41__pyx_v_bullet); __pyx_9genexpr41__pyx_v_bullet = 0;
goto __pyx_L1_error;
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__Pyx_DECREF_SET(__pyx_v_bullets, ((PyObject*)__pyx_t_3));
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if (__pyx_t_14) {
/* … */
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__Pyx_GetModuleGlobalName(__pyx_t_20, __pyx_mstate_global->__pyx_n_u_check_coordinate_bounds); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 4501, __pyx_L1_error)
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__Pyx_INCREF(__pyx__function);
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{
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/* … */
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4502: #bullet_sim_time += time.perf_counter() - start_time
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4507: px = bullet_x,
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4514: )
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
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__Pyx_Raise(__pyx_builtin_AssertionError, 0, 0, 0);
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4519: # Simulate ship dynamics, if we have the full future list of moves to go off of
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4664:
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+4666: self.intended_move_sequence = move_sequence # Record down the intended move sequence, so if I crash and the recorded move sequence gets cut short, we still have the intended move sequence!
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4667: #flag = False
4668: #if not is_close_to_zero(self.ship_state.speed) and self.sim_id == 333:
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4680: # print(f"Calling update from sim maneuver:")
4681: #if self.sim_id == 23215:
4682: #print(f"Calling update from sim maneuver: with {thrust=}, {turn_rate=}, {allow_firing=}")
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4685: #if flag:
4686: #if self.sim_id == 333:
4687: # print(f"In sim {self.sim_id} After thrusting by {thrust} the true simmed ship speed is {self.ship_state.speed}")
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4700: #start_time = time.perf_counter()
4701: # This should exactly match what kessler_game.py does.
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4780: # Simulate the ship!
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4787: # if len(self.other_ships) != 0:
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4790: # I think this assertion doesn't work right after a ship dies, because their bullet can still be travelling in the air
4791: # if len(self.other_ships) == 0:
4792: # assert actual_asteroid_hit is not None
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4794: #print(f"SURPRISINGLY WE DON'T HIT ANYTHING LIKE WE THOUGHT WE WOULD!")
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4803: #global update_ts_zero_count
4804: # We're able to decide whether we want to fire any convenient shots we can get
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4813: # We can shoot this timestep! Loop through all asteroids and see which asteroids we can feasibly hit if we shoot at this angle, and take those and simulate with the bullet sim to see which we'll hit
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4828: # Get the length of time the longest asteroid would take to hit, and that'll be the upper bound of the bullet sim's timesteps
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4834: # This mine is mine
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4848: #ast_angle = super_fast_atan2(asteroid.py - self.ship_state.py, asteroid.px - self.ship_state.px)
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4851: # We also want to add the surrounding asteroids into the bullet sim, just in case any of them aren't added later in the feasible shots
4852: # The reasons for them not being added later, is that maybe we already shot at it, so we skipped over it.
4853: # We should be including all the asteroids we shot at, but unfortunately even including all the asteroids in a cone doesn't guarantee that, so this system still isn't perfect!!
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/* … */
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4901:
4902: '''
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4905:
4906: # Convert the set back to a list
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4908:
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4911:
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4914: assert len(culled_target_idxs_for_simulation) == len(unique_list), "List lengths are not equal"
4915: '''
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4924: # Confirmed that the shot will land
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4928: #if self.sim_id == 13939:
4929: # print(f"Checked on ts {self.initial_timestep + self.future_timesteps + 1} that the asteroid {actual_asteroid_hit_at_fire_time} isn't tracked, so we can shoot it!")
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+4932: self.explanation_messages.append("During the maneuver, I conveniently shot asteroids.")
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4934: #print("Calling forecast ast bull splits from maneuver")
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4936: # The reason we add one to the timestep we track on, is that once we updated the asteroids' position in the update loop, it's technically the asteroid positions in the game state of the next timestep that gets passed to the controllers!
4937: # So the asteroid positions at a certain timestep is before their positions get updated. After updating, it's the next timestep.
4938: #if is_close(-10.0, actual_asteroid_hit_at_fire_time.vx):
4939: # print(f"\nSHOT AT THE ASTEROID IN UPDATE in sim {self.sim_id} on timestep {self.initial_timestep + self.future_timesteps + 1}, {self.initial_timestep=} {self.future_timesteps=} and this shot will take this many ts: {timesteps_until_bullet_hit_asteroid}")
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PyErr_SetString(PyExc_TypeError, "'NoneType' object is not subscriptable");
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5136: # This is the last possible frame to drop a mine and have it do something. Dump the mine!
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5145: # This doesn't check whether it's valid to place a mine! It just does it!
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goto __pyx_L235_continue;
5251: #if check_collision(asteroid.px, asteroid.py, asteroid.radius, mine.px, mine.py, MINE_BLAST_RADIUS):
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+5257: new_asteroids.extend(forecast_asteroid_mine_instantaneous_splits(asteroid, mine, self.game_state))
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5261: #if check_collision(self.ship_state.px, self.ship_state.py, SHIP_RADIUS, mine.px, mine.py, MINE_BLAST_RADIUS):
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5266: # Ship got hit by mine, RIP
5267: #print(f"Ship got hit by mine in sim, RIP and the ship respawn state is {self.ship_state.is_respawning} with the respawn timer at {self.respawn_timer}")
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+5295: if a_idx in asteroid_remove_idxs:
__pyx_t_3 = (__Pyx_PySet_ContainsTF(__pyx_v_a_idx, __pyx_v_asteroid_remove_idxs, Py_EQ)); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 5295, __pyx_L1_error) if (__pyx_t_3) { /* … */ }
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goto __pyx_L268_continue;
5297: #if check_collision(self.ship_state.px, self.ship_state.py, SHIP_RADIUS, asteroid.px, asteroid.py, asteroid.radius):
+5298: delta_x = self.ship_state.px - asteroid.px
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+5299: delta_y = self.ship_state.py - asteroid.py
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+5300: separation = SHIP_RADIUS + asteroid.radius
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+5302: if asteroid.size != 1:
__pyx_t_2 = __Pyx_PyObject_GetAttrStr(__pyx_v_asteroid, __pyx_mstate_global->__pyx_n_u_size); if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5302, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); __pyx_t_3 = (__Pyx_PyLong_BoolNeObjC(__pyx_t_2, __pyx_mstate_global->__pyx_int_1, 1, 0)); if (unlikely((__pyx_t_3 < 0))) __PYX_ERR(0, 5302, __pyx_L1_error) __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0; if (__pyx_t_3) { /* … */ }
+5303: self.game_state.asteroids.extend(forecast_asteroid_ship_splits(asteroid, 0, self.ship_state.vx, self.ship_state.vy, self.game_state))
__pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); __pyx_t_8 = __Pyx_PyObject_GetAttrStr(__pyx_t_10, __pyx_mstate_global->__pyx_n_u_asteroids); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __pyx_t_15 = __pyx_t_8; __Pyx_INCREF(__pyx_t_15); __pyx_t_14 = NULL; __Pyx_GetModuleGlobalName(__pyx_t_18, __pyx_mstate_global->__pyx_n_u_forecast_asteroid_ship_splits); if (unlikely(!__pyx_t_18)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_18); __pyx_t_13 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_13); __pyx_t_30 = __Pyx_PyObject_GetAttrStr(__pyx_t_13, __pyx_mstate_global->__pyx_n_u_vx); if (unlikely(!__pyx_t_30)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_30); __Pyx_DECREF(__pyx_t_13); __pyx_t_13 = 0; __pyx_t_13 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_13); __pyx_t_23 = __Pyx_PyObject_GetAttrStr(__pyx_t_13, __pyx_mstate_global->__pyx_n_u_vy); if (unlikely(!__pyx_t_23)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_23); __Pyx_DECREF(__pyx_t_13); __pyx_t_13 = 0; __pyx_t_13 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_13); __pyx_t_7 = 1; #if CYTHON_UNPACK_METHODS if (unlikely(PyMethod_Check(__pyx_t_18))) { __pyx_t_14 = PyMethod_GET_SELF(__pyx_t_18); assert(__pyx_t_14); PyObject* __pyx__function = PyMethod_GET_FUNCTION(__pyx_t_18); __Pyx_INCREF(__pyx_t_14); __Pyx_INCREF(__pyx__function); __Pyx_DECREF_SET(__pyx_t_18, __pyx__function); __pyx_t_7 = 0; } #endif { PyObject *__pyx_callargs[6] = {__pyx_t_14, __pyx_v_asteroid, __pyx_mstate_global->__pyx_int_0, __pyx_t_30, __pyx_t_23, __pyx_t_13}; __pyx_t_10 = __Pyx_PyObject_FastCall(__pyx_t_18, __pyx_callargs+__pyx_t_7, (6-__pyx_t_7) | (__pyx_t_7*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_14); __pyx_t_14 = 0; __Pyx_DECREF(__pyx_t_30); __pyx_t_30 = 0; __Pyx_DECREF(__pyx_t_23); __pyx_t_23 = 0; __Pyx_DECREF(__pyx_t_13); __pyx_t_13 = 0; __Pyx_DECREF(__pyx_t_18); __pyx_t_18 = 0; if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_10); } __pyx_t_7 = 0; { PyObject *__pyx_callargs[2] = {__pyx_t_15, __pyx_t_10}; __pyx_t_2 = __Pyx_PyObject_FastCallMethod(__pyx_mstate_global->__pyx_n_u_extend, __pyx_callargs+__pyx_t_7, (2-__pyx_t_7) | (1*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_15); __pyx_t_15 = 0; __Pyx_DECREF(__pyx_t_10); __pyx_t_10 = 0; __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0; if (unlikely(!__pyx_t_2)) __PYX_ERR(0, 5303, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_2); } __Pyx_DECREF(__pyx_t_2); __pyx_t_2 = 0;
+5304: asteroid_remove_idxs.add(a_idx)
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5305: # Stop checking this ship's collisions. And also return saying the ship took damage!
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__pyx_t_8 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5309, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); if (__Pyx_PyObject_SetAttrStr(__pyx_t_8, __pyx_mstate_global->__pyx_n_u_is_respawning, Py_True) < 0) __PYX_ERR(0, 5309, __pyx_L1_error) __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0;
+5310: self.ship_state.speed = 0.0
__pyx_t_8 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5310, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); if (__Pyx_PyObject_SetAttrStr(__pyx_t_8, __pyx_mstate_global->__pyx_n_u_speed, __pyx_mstate_global->__pyx_float_0_0) < 0) __PYX_ERR(0, 5310, __pyx_L1_error) __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0;
+5311: self.ship_state.vx = 0.0
__pyx_t_8 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5311, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); if (__Pyx_PyObject_SetAttrStr(__pyx_t_8, __pyx_mstate_global->__pyx_n_u_vx, __pyx_mstate_global->__pyx_float_0_0) < 0) __PYX_ERR(0, 5311, __pyx_L1_error) __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0;
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__pyx_t_8 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_ship_state); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5312, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); if (__Pyx_PyObject_SetAttrStr(__pyx_t_8, __pyx_mstate_global->__pyx_n_u_vy, __pyx_mstate_global->__pyx_float_0_0) < 0) __PYX_ERR(0, 5312, __pyx_L1_error) __Pyx_DECREF(__pyx_t_8); __pyx_t_8 = 0;
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+5314: break
goto __pyx_L269_break;
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goto __pyx_L277_continue;
5320: #if check_collision(self.ship_state.px, self.ship_state.py, SHIP_RADIUS, asteroid.px, asteroid.py, asteroid.radius):
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5325: # The ship and asteroid are overlapping, while the ship is doing a respawn maneuver.
5326: # We want to track this, so that we can begin to shoot asteroids right after we're no longer overlapping with any, before we finish the respawn maneuver and get a couple more hits in
+5327: self.last_timestep_colliding = self.initial_timestep + self.future_timesteps
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+5328: break
goto __pyx_L278_break;
5329: # Cull asteroids marked for removal
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5331: #start_cull_time = time.perf_counter()
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{ /* enter inner scope */
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__pyx_t_29 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state); if (unlikely(!__pyx_t_29)) __PYX_ERR(0, 5332, __pyx_L1_error)
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5333: #sim_cull_total_time += time.perf_counter() - start_cull_time
5334:
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5336: # Checking collisions with the other ship isn't a great idea since this isn't 100% sure. This models the other ship as stationary, which probably won't be true, unless their controller is the null controller.
5337: '''
5338: # Check ship/ship collisions
5339: if not self.ship_state.is_respawning:
5340: if ENABLE_ASSERTIONS:
5341: assert return_value is None
5342: if self.get_instantaneous_ship_collision():
5343: print(f"COLLISION WITH OTHER SHIP!!!")
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5348: self.ship_state.speed = 0.0
5349: self.ship_state.velocity = (0.0, 0.0)
5350: self.respawn_timer = 3.0
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5478: """
5479: Method processed each time step by this controller.
5480: """
5481:
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5483:
5484:
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5520: #self.ship_id = None
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+5534: self.base_gamestate_analysis: Optional[tuple[float, float, float, float, int, float, int, int]] = None
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+5536: self.base_gamestates: dict[int, Any] = {} # Key is timestep, value is the state
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5538: #self.reality_move_sequence: list[dict[str, Any]] = []
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5543: global fitness_function_weights
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5545: # For performance controller
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5552:
5553: # Clear globals
5554: global explanation_messages_with_timestamps
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5556: #global total_abs_cruise_speed
5557: #total_abs_cruise_speed = SHIP_MAX_SPEED/2
5558: #global total_cruise_timesteps
5559: #total_cruise_timesteps = round(MAX_CRUISE_TIMESTEPS/2)
5560: #global total_maneuvers_to_learn_from
5561: #total_maneuvers_to_learn_from = 1
5562: global abs_cruise_speeds, cruise_timesteps, unwrap_cache, total_sim_timesteps, overall_fitness_record
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5582: # asteroid_density = control.Antecedent(arange(0, 11, 1), 'asteroid_density')
5583: # asteroids_entropy = control.Antecedent(arange(0, 11, 1), 'asteroids_entropy')
5584: # other_ship_lives = control.Antecedent(arange(0, 4, 1), 'other_ship_lives')
5585:
5586: # aggression = control.Consequent(arange(0, 1, 1), 'asteroid_growth_factor')
5587:
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5685:
5686: #time.sleep(10)
5687: #if ENABLE_SANITY_CHECKS: # REMOVE_FOR_COMPETITION
5688: # assert self.stationary_targetting_sim_index != INT_NEG_INF or self.game_state_to_base_planning['ship_state'].bullets_remaining == 0 or self.game_state_to_base_planning['respawning'] or not is_close_to_zero(self.game_state_to_base_planning['ship_state'].speed) # REMOVE_FOR_COMPETITION
5689: # print(f"Deciding next action, Respawn maneuver status is: {self.game_state_to_base_planning['respawning']}")
5690: # Go through the list of planned maneuvers and pick the one with the best fitness function score
5691: # Update the state to base planning off of, so Neo can get to work on planning the next set of moves while this current set of moves executes
5692: # print('Going through sorted sims list to pick the best action')
5693: best_action_sim: Matrix
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5695: # Since the game is non-deterministic, we need to apply our simulated moves onto the actual corrected state, so errors don't build up
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5697: #print('pred sim id', best_action_sim_predicted.get_sim_id())
5698: # debug_print(f"\nPredicted best action sim first state:", best_action_sim_predicted.get_state_sequence()[0])
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5712: # debug_print('DECIDE NEXT ACTION REDO sim ast pending death:')
5713: # debug_print(self.game_state_to_base_planning['asteroids_pending_death'])
5714: #print("Doing a best action sim")
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5732: #print(f"Actual move sequence length: {len(best_action_sim_actual_move_sequence)}, intended move sequence length: {len(best_action_sim_predicted_move_sequence)}")
5733: # If the actual move sequence is shorter than the intended, that's because I crashed into something. But we should still extend the shorter list with the rest of the elements of the intended move sequence, because just in case we don't collide as expected, the move sequence will still include the additional instructions needed to come to a complete stop again.
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5736: #debug_print(f"\nIntended move sequence:")
5737: #debug_print(best_action_sim_predicted_move_sequence)
5738: #debug_print(f"Actual move sequence:")
5739: #debug_print(best_action_sim_actual_move_sequence)
5740: #print(f"Applying move sequence for maneuver. Seq is {best_action_sim_predicted_move_sequence}")
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5742: #print("Applying respawning move sequence")
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5744: else:
5745: # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
5746: #print(f'\ncalling sim maneuver in decide best with intended move sequence of {best_action_sim_predicted_move_sequence} and actual move sequence of {best_action_sim_predicted.get_move_sequence()}')
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5749: #print('crashing sim id:', best_action_sim.get_sim_id())
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5752: # debug_print(f"\nActual best action first state:", best_action_sim.get_state_sequence()[0])
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5755: # Using the true current state, we see that our best sim's true fitness is lower than what we were expecting.
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5759: #print('Actual base state which is now current:')
5760: #print(game_state)
5761: #print('Actual ship state which is now current:')
5762: #print(ship_state)
5763: #print('And the NEW sim predicts the ship state to be:')
5764: #print(best_action_sim.get_ship_state())
5765: #print('But the old sim thought the ship state would be:')
5766: #print(best_action_sim_predicted.get_ship_state())
+5767: if self.second_best_fitness_this_planning_period_index != INT_NEG_INF:
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5768: # The best action sim's reality is worse than expected. Try our second best as a backup and hopefully this will be better, and go according to plan!
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5770: # The second best sim also uses a predicted state
+5771: second_best_action_sim_predicted: Matrix = self.sims_this_planning_period[self.second_best_fitness_this_planning_period_index]['sim']
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__Pyx_GetModuleGlobalName(__pyx_t_25, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_25)) __PYX_ERR(0, 5773, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_25); __pyx_t_19 = __Pyx_PyObject_IsTrue(__pyx_t_25); if (unlikely((__pyx_t_19 < 0))) __PYX_ERR(0, 5773, __pyx_L1_error) __Pyx_DECREF(__pyx_t_25); __pyx_t_25 = 0; if (__pyx_t_19) { /* … */ }
+5774: assert second_best_action_fitness_predicted == self.second_best_fitness_this_planning_period # REMOVE_FOR_COMPETITION
#ifndef CYTHON_WITHOUT_ASSERTIONS
if (unlikely(__pyx_assertions_enabled())) {
__pyx_t_25 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_second_best_fitness_this_plannin); if (unlikely(!__pyx_t_25)) __PYX_ERR(0, 5774, __pyx_L1_error)
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__PYX_ERR(0, 5774, __pyx_L1_error)
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+5775: second_best_predicted_sim_fire_next_timestep_flag = second_best_action_sim_predicted.get_fire_next_timestep_flag()
__pyx_t_25 = __pyx_v_second_best_action_sim_predicted;
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5776: #print(f"Doing second best action sim. Ship respawn timer: {self.game_state_to_base_planning['ship_respawn_timer']}, asts pending death: {self.game_state_to_base_planning['asteroids_pending_death']}, forecasted splits: {self.game_state_to_base_planning['forecasted_asteroid_splits']}, is respawning: {self.game_state_to_base_planning['respawning']}, fire next ts flag: {self.game_state_to_base_planning['fire_next_timestep_flag']}")
+5777: second_best_action_sim = Matrix(game_state=game_state,
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__Pyx_GetModuleGlobalName(__pyx_t_13, __pyx_mstate_global->__pyx_n_u_Matrix); if (unlikely(!__pyx_t_13)) __PYX_ERR(0, 5777, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_13);
5778: ship_state=ship_state,
+5779: initial_timestep=self.current_timestep,
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+5780: respawn_timer=self.game_state_to_base_planning['ship_respawn_timer'],
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+5782: forecasted_asteroid_splits=self.game_state_to_base_planning['forecasted_asteroid_splits'],
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+5783: last_timestep_fired=self.game_state_to_base_planning['last_timestep_fired'],
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+5784: last_timestep_mined=self.game_state_to_base_planning['last_timestep_mined'],
__pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state_to_base_planning); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5784, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_12 = __Pyx_PyObject_Dict_GetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_last_timestep_mined); if (unlikely(!__pyx_t_12)) __PYX_ERR(0, 5784, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_12); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
+5785: mine_positions_placed=self.game_state_to_base_planning['mine_positions_placed'],
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__pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state_to_base_planning); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5787, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_8 = __Pyx_PyObject_Dict_GetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_fire_next_timestep_flag); if (unlikely(!__pyx_t_8)) __PYX_ERR(0, 5787, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_8); __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
5788: verify_first_shot=True,
5789: verify_maneuver_shots=True,
+5790: last_timestep_colliding=second_best_action_sim_predicted.get_last_timestep_colliding() if self.game_state_to_base_planning['respawning'] else -1,
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5794: # If the actual move sequence is shorter than the intended, that's because I crashed into something. But we should still extend the shorter list with the rest of the elements of the intended move sequence, because just in case we don't collide as expected, the move sequence will still include the additional instructions needed to come to a complete stop again.
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5797: # print(f"Applying move sequence for maneuver #2, seq is {second_best_action_sim_predicted_move_sequence}")
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5800: else:
5801: # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
5802: #print('calling sim maneuver in decide second best') # REMOVE_FOR_COMPETITION
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5807: else:
5808: # The second best sim uses an exact state
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5831:
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5843: #print(f"RUNNING SECOND PASS OF RESPAWN MANEUVER. {best_action_sim_respawn_first_pass.get_last_timestep_colliding_with_asteroid()=}")
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5865: #print(f"First pass fitness: {best_action_sim_respawn_first_pass_fitness}, second pass fitness: {best_action_fitness}, first pass breakdown: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['fitness_breakdown']}, second pass breakdown: {best_action_fitness_breakdown}") # REMOVE_FOR_COMPETITION
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5867: #print("REVERTING TO FIRST PASS. SECOND PASS DIDN'T HELP!") # REMOVE_FOR_COMPETITION
5868: # The additional shots didn't actually help our fitness. Reverting to just using the first pass sim which is totally valid still
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5873: else:
5874: # Exact planning, and this isn't a respawn maneuver so we just do the one-pass simulation method and call it a day
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/* … */
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5880: # This is either a heuristic or random maneuver
5881: #global total_abs_cruise_speed, total_cruise_timesteps, total_maneuvers_to_learn_from
5882: #total_abs_cruise_speed += abs(best_action_maneuver_tuple[1])
5883: #total_cruise_timesteps += best_action_maneuver_tuple[3]
5884: #total_maneuvers_to_learn_from += 1
5885: global abs_cruise_speeds, cruise_timesteps
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5908: # We're gonna die. Force select the one where I stay put and accept my fate, and don't even begin a maneuver.
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5910: #print('IT LOOKS LIKE THIS NEW ACTION WE ARE DOING ENDS IN DEATH!!!')
5911: # if self.stationary_targetting_sim_index:
5912: # self.best_fitness_this_planning_period_index = self.stationary_targetting_sim_index
5913: # best_action_sim: Simulation = self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['sim']
5914: # best_action_fitness = self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['fitness']
+5915: if self.game_state_to_base_planning['respawning']:
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+5916: print_explanation(f"Doing a respawn maneuver to get to a safe spot using my respawn invincibility. This maneuver was the best one picked out of {len(self.sims_this_planning_period)} randomly chosen maneuvers!", self.current_timestep)
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5926: # No mines are threatening us whether we stay put or move
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+5928: print_explanation(f"Doing a maneuver to dodge asteroids! This maneuver was the best one picked out of {len(self.sims_this_planning_period)} randomly chosen maneuvers!", self.current_timestep)
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+5932: print_explanation(f"Doing a maneuver to get away from the other ship! This maneuver was the best one picked out of {len(self.sims_this_planning_period)} randomly chosen maneuvers!", self.current_timestep)
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5935: #print(f"Current average overall fitness is {weighted_average(overall_fitness_record)}")
5936: # debug_print(f"Respawn maneuver status is: {self.game_state_to_base_planning['respawning']}, Move type: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}, state type: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['state_type']}, Best move seq with fitness {best_action_fitness}: {best_move_sequence}")
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5938: # debug_print(f"The action we're taking is from timestep {best_action_sim_state_sequence[0]['timestep']} to {best_action_sim_state_sequence[-1]['timestep']}")
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+5943: explanation_messages = best_action_sim.get_explanations()
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5947: # Only periodically print this explanation, as I don't want it to spam the screen too much
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5949: # end_state = sim_ship.get_state_sequence()[-1]
5950: #assert self.stationary_targetting_sim_index is not None
5951: #print(f"Maneuver fitness: {best_action_fitness}, stationary fitness: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness']} stationary fitness breakdown: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness_breakdown']}")
5952: # print('state seq:', best_action_sim_state_sequence)
5953: # debug_print('Best move seq:', best_move_sequence)
5954: # debug_print(f"Best sim index: {self.best_fitness_this_planning_period_index}")
5955: # debug_print(f"Choosing action: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']} with fitness {best_action_fitness} {best_action_fitness_breakdown}")
5956: # print('all sims this planning period:')
5957: # print(self.sims_this_planning_period)
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+5960: best_action_sim_last_state = best_action_sim_state_sequence[-1]
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5961: # Prune out the list of asteroids we shot at if the timestep (key) is in the past
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5963: # debug_print(f"Timesteps in asteroids pending death: {[timestep for timestep in asteroids_pending_death.keys()]}")
5964: #print(f"Size of asts pending death: {sys.getsizeof()}")
5965: #global asteroids_pending_death_total_cull_time
5966: #start_time = time.perf_counter()
5967: #asteroids_pending_death = {timestep: asteroids for timestep, asteroids in asteroids_pending_death.items() if timestep >= best_action_sim_last_state.timestep}
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+5969: if timestep in asteroids_pending_death:
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+5970: del asteroids_pending_death[timestep]
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5971: #asteroids_pending_death_total_cull_time += time.perf_counter() - start_time
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5974: #print(f"Ast pending death keys: {asteroids_pending_death.keys()}")
5975: # Made this change, because if we're waiting out mines, that'll mess up the game state. But the state sequence still has the last actual game state, so we'll use that!
5976: # next_base_game_state = best_action_sim_last_state['game_state']
5977: # print(f'\nNext base game state for timestep {best_action_sim_last_state["timestep"]}:')
+5978: self.set_of_base_gamestate_timesteps.add(best_action_sim_last_state.timestep)
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+5979: new_ship_state = best_action_sim.get_ship_state()
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+5980: new_fire_next_timestep_flag = best_action_sim.get_fire_next_timestep_flag()
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5981: # print(f"Firing next ts status is: {new_fire_next_timestep_flag}")
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__pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_v_new_ship_state, __pyx_mstate_global->__pyx_n_u_is_respawning); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5982, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_t_20); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5982, __pyx_L1_error) __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0; if (__pyx_t_29) { } else { __pyx_t_2 = __pyx_t_29; goto __pyx_L79_bool_binop_done; } __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_v_new_fire_next_timestep_flag); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5982, __pyx_L1_error) if (__pyx_t_29) { } else { __pyx_t_2 = __pyx_t_29; goto __pyx_L79_bool_binop_done; } __pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_v_new_ship_state, __pyx_mstate_global->__pyx_n_u_lives_remaining); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5982, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_lives_remaining_that_we_did_resp); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5982, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_29 = (__Pyx_PySequence_ContainsTF(__pyx_t_20, __pyx_t_1, Py_NE)); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5982, __pyx_L1_error) __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0; __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __pyx_t_2 = __pyx_t_29; __pyx_L79_bool_binop_done:; if (__pyx_t_2) { /* … */ }
5983: # print(f"Forcing off the fire next timestep, because we just took damage")
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__Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_ENABLE_SANITY_CHECKS); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; if (__pyx_t_29) { } else { __pyx_t_2 = __pyx_t_29; goto __pyx_L83_bool_binop_done; } __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_v_new_ship_state, __pyx_mstate_global->__pyx_n_u_lives_remaining); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_lives_remaining_that_we_did_resp); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); __pyx_t_29 = (__Pyx_PySequence_ContainsTF(__pyx_t_1, __pyx_t_20, Py_NE)); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0; if (__pyx_t_29) { } else { __pyx_t_2 = __pyx_t_29; goto __pyx_L83_bool_binop_done; } __pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_v_new_ship_state, __pyx_mstate_global->__pyx_n_u_is_respawning); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_t_20); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5985, __pyx_L1_error) __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0; __pyx_t_2 = __pyx_t_29; __pyx_L83_bool_binop_done:; if (__pyx_t_2) { /* … */ }
5986: # If our ship is hurt in our next next action and I haven't done a respawn maneuver yet (in this situation, the next next action is a respawn maneuver) # REMOVE_FOR_COMPETITION
5987: # Then I assert that our next action is not a respawning action, AND we're not firing at the start of the next next action # REMOVE_FOR_COMPETITION
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__pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state_to_base_planning); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5988, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_20); __pyx_t_1 = __Pyx_PyObject_Dict_GetItem(__pyx_t_20, __pyx_mstate_global->__pyx_n_u_respawning); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5988, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0; __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_t_1); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5988, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0; if (!__pyx_t_29) { } else { __pyx_t_2 = __pyx_t_29; goto __pyx_L87_bool_binop_done; } __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_v_new_fire_next_timestep_flag); if (unlikely((__pyx_t_29 < 0))) __PYX_ERR(0, 5988, __pyx_L1_error) __pyx_t_2 = __pyx_t_29; __pyx_L87_bool_binop_done:; if (__pyx_t_2) { /* … */ }
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__Pyx_INCREF(__pyx_builtin_print);
__pyx_t_22 = __pyx_builtin_print;
__pyx_t_21 = __Pyx_PyObject_GetAttrStr(__pyx_v_new_ship_state, __pyx_mstate_global->__pyx_n_u_lives_remaining); if (unlikely(!__pyx_t_21)) __PYX_ERR(0, 5989, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_21);
__pyx_t_25 = __Pyx_PyObject_FormatSimple(__pyx_t_21, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_25)) __PYX_ERR(0, 5989, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_25);
__Pyx_DECREF(__pyx_t_21); __pyx_t_21 = 0;
__pyx_t_7[0] = __pyx_mstate_global->__pyx_kp_u_We_haven_t_done_a_respawn_maneuv;
__pyx_t_7[1] = __pyx_t_25;
__pyx_t_7[2] = __pyx_mstate_global->__pyx_kp_u_lives_left_2;
__pyx_t_21 = __Pyx_PyUnicode_Join(__pyx_t_7, 3, 46 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_25) + 11, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_25));
if (unlikely(!__pyx_t_21)) __PYX_ERR(0, 5989, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_21);
__Pyx_DECREF(__pyx_t_25); __pyx_t_25 = 0;
__pyx_t_9 = 1;
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__pyx_t_1 = __Pyx_PyObject_FastCall(__pyx_t_22, __pyx_callargs+__pyx_t_9, (2-__pyx_t_9) | (__pyx_t_9*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
__Pyx_XDECREF(__pyx_t_20); __pyx_t_20 = 0;
__Pyx_DECREF(__pyx_t_21); __pyx_t_21 = 0;
__Pyx_DECREF(__pyx_t_22); __pyx_t_22 = 0;
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__Pyx_INCREF(__pyx_builtin_print);
__pyx_t_21 = __pyx_builtin_print;
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__Pyx_GOTREF(__pyx_t_20);
__pyx_t_25 = __Pyx_PyObject_Dict_GetItem(__pyx_t_20, __pyx_mstate_global->__pyx_n_u_respawning); if (unlikely(!__pyx_t_25)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_25);
__Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
__pyx_t_20 = __Pyx_PyObject_FormatSimple(__pyx_t_25, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_20);
__Pyx_DECREF(__pyx_t_25); __pyx_t_25 = 0;
__pyx_t_25 = __Pyx_PyObject_FormatSimple(__pyx_v_new_fire_next_timestep_flag, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_25)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_25);
__pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_best_action_sim, __pyx_mstate_global->__pyx_n_u_get_respawn_timer); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_3);
__pyx_t_5 = __Pyx_PyObject_CallNoArg(__pyx_t_3); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_5);
__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
__pyx_t_3 = __Pyx_PyObject_FormatSimpleAndDecref(PyObject_Repr(__pyx_t_5), __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 5990, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_3);
__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
__pyx_t_31[0] = __pyx_mstate_global->__pyx_kp_u_self_game_state_to_base_planning;
__pyx_t_31[1] = __pyx_t_20;
__pyx_t_31[2] = __pyx_mstate_global->__pyx_kp_u_new_fire_next_timestep_flag;
__pyx_t_31[3] = __pyx_t_25;
__pyx_t_31[4] = __pyx_mstate_global->__pyx_kp_u_best_action_sim_get_respawn_tim;
__pyx_t_31[5] = __pyx_t_3;
__pyx_t_5 = __Pyx_PyUnicode_Join(__pyx_t_31, 6, 48 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_20) + 31 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_25) + 38 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_3), 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_20) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_25) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_3));
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__Pyx_GOTREF(__pyx_t_5);
__Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
__Pyx_DECREF(__pyx_t_25); __pyx_t_25 = 0;
__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
__pyx_t_9 = 1;
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PyObject *__pyx_callargs[2] = {__pyx_t_22, __pyx_t_5};
__pyx_t_1 = __Pyx_PyObject_FastCall(__pyx_t_21, __pyx_callargs+__pyx_t_9, (2-__pyx_t_9) | (__pyx_t_9*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
__Pyx_XDECREF(__pyx_t_22); __pyx_t_22 = 0;
__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
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5991: # assert not (self.game_state_to_base_planning['respawning'] or new_fire_next_timestep_flag) # REMOVE_FOR_COMPETITION
5992: # print(f"{new_ship_state.lives_remaining=}, {str(self.lives_remaining_that_we_did_respawn_maneuver_for)=}, {new_ship_state.is_respawning=}")
5993: # debug_print(f"Deciding next action on ts {self.current_timestep}! The new planning ship speed is {new_ship_state.speed} and the move sequence we're executing is REDACTED best_move_sequence, type is {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}")
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if (__Pyx_PyObject_SetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_game_state_to_base_planning, __pyx_t_1) < 0) __PYX_ERR(0, 5994, __pyx_L1_error) __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
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__pyx_t_1 = __Pyx_PyDict_NewPresized(11); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 5995, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_1); __pyx_t_21 = __Pyx_PyObject_GetAttrStr(__pyx_v_best_action_sim_last_state, __pyx_mstate_global->__pyx_n_u_timestep); if (unlikely(!__pyx_t_21)) __PYX_ERR(0, 5995, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_21); if (PyDict_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_timestep, __pyx_t_21) < 0) __PYX_ERR(0, 5995, __pyx_L1_error) __Pyx_DECREF(__pyx_t_21); __pyx_t_21 = 0;
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if (PyDict_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_ship_state, __pyx_v_new_ship_state) < 0) __PYX_ERR(0, 5995, __pyx_L1_error)
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if (PyDict_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_game_state, __pyx_v_next_base_game_state) < 0) __PYX_ERR(0, 5995, __pyx_L1_error)
+5999: 'ship_respawn_timer': best_action_sim.get_respawn_timer(),
__pyx_t_22 = __pyx_v_best_action_sim; __Pyx_INCREF(__pyx_t_22); __pyx_t_9 = 0; { PyObject *__pyx_callargs[2] = {__pyx_t_22, NULL}; __pyx_t_21 = __Pyx_PyObject_FastCallMethod(__pyx_mstate_global->__pyx_n_u_get_respawn_timer, __pyx_callargs+__pyx_t_9, (1-__pyx_t_9) | (1*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_22); __pyx_t_22 = 0; if (unlikely(!__pyx_t_21)) __PYX_ERR(0, 5999, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_21); } if (PyDict_SetItem(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_ship_respawn_timer, __pyx_t_21) < 0) __PYX_ERR(0, 5995, __pyx_L1_error) __Pyx_DECREF(__pyx_t_21); __pyx_t_21 = 0;
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6007: #print('New base gamestate:')
6008: #print(next_base_game_state)
6009: #print('New base shipstate:')
6010: #print(new_ship_state)
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+6015: if self.game_state_to_base_planning['respawning']:
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6016: # print(f"Adding to lives remaining that we did respawn for, in decide next action: {new_ship_state.lives_remaining}")
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6018: # debug_print(f"The next base state's respawning state is {self.game_state_to_base_planning['respawning']}")
6019: # debug_print("The new ship state is", new_ship_state)
6020: # debug_print(f"The fire next timestep flag is: {new_fire_next_timestep_flag}")
6021: # debug_print(f"\nNext base state ts: {self.game_state_to_base_planning['timestep']}, respawn maneuver: {self.game_state_to_base_planning['respawning']}, respawn timer: {self.game_state_to_base_planning['ship_respawn_timer']}, ship state: {new_ship_state}")
+6022: self.base_gamestates[best_action_sim_last_state.timestep] = self.game_state_to_base_planning
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6023: state_dump_dict = {
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__Pyx_Raise(__pyx_builtin_AssertionError, __pyx_mstate_global->__pyx_kp_u_DUPLICATE_TIMESTEPS_IN_ENQUEUED, 0, 0);
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6064: #print("Calling plan action")
6065: # gc.disable()
6066: # Simulate and look for a good move
6067: # We have two options. Stay put and focus on targetting asteroids, or we can come up with an avoidance maneuver and target asteroids along the way if convenient
6068: # We simulate both options, and take the one with the higher fitness score
6069: # If we stay still, we can potentially keep shooting asteroids that are on collision course with us without having to move
6070: # But if we're overwhelmed, it may be a lot better to move to a safer spot
6071: # The third scenario is that even if we're safe where we are, we may be able to be on the offensive and seek out asteroids to lay mines, so that can also increase the fitness function of moving, making it better than staying still
6072: # Our number one priority is to stay alive. Second priority is to shoot as much as possible. And if we can, lay mines without putting ourselves in danger.
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6077: #print("Planning respawn maneuver")
6078: # Simulate and look for a good move
6079: # print(f"Checking for imminent danger. We're currently at position {ship_state.px} {ship_state.py}")
6080: # print(f"Current ship location: {ship_state.px}, {ship_state.py}, ship heading: {ship_state.heading}")
6081:
6082: # Check for danger
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6086:
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6088: # Run a simulation and find a course of action to put me to safety
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6097: # print(f"Respawn search iteration {search_iterations_count}")
6098: pass
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case 0:
/* … */
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6101: # On the first iteration, try the null action. For ring scenarios, it may be best to stay at the center of the ring.
6102: # TODO: RESTORE NULL ACTION
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6109: # TODO: Use this opportunity to aim at an asteroid! But we need to do something to get it to shoot, so maybe this won't work with our current framework rip.
6110: # On the second iteration, try staying still for 1 second (and just turn a little bit so we can use the same framework to do this null movement with a wait)
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6132: # TODO: There's a hardcoded false in the arguments to the following sim. Investigate!!!
6133: #print(f"Doing respawn maneuver with {random_ship_heading_angle=} {ship_accel_turn_rate=} {ship_cruise_speed=} {ship_cruise_turn_rate=} {ship_cruise_timesteps=}")
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6151: # The ship went through all the steps without colliding
6152: #debug_print("The ship went through all the steps without colliding")
6153: # maneuver_complete_without_crash = True
6154: #else:
6155: # The ship crashed somewhere before reaching the final resting spot
6156: #debug_print("The ship crashed somewhere before reaching the final resting spot")
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6159: #print(f"Respawn maneuver fitness: {maneuver_fitness} {maneuver_sim.get_fitness_breakdown()}, move seq length was {len(maneuver_sim.get_move_sequence())}")
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+6205: stationary_targetting_sim.target_selection()
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6206: #print('\nstationary targetting sim move seq')
6207: #print(stationary_targetting_sim.get_move_sequence())
6208:
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6212: # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6213: assert self.game_state_to_base_planning['fire_next_timestep_flag'] # REMOVE_FOR_COMPETITION
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6220: 'action_type': 'targetting',
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6223: })
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6231:
6232: # debug_print(f"Planning targetting, and got fitness {best_stationary_targetting_fitness}")
+6233: if plan_stationary and not ship_is_stationary: # REMOVE_FOR_COMPETITION
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+6234: print(f"\nWARNING: The ship wasn't stationary after the last maneuver, so we're skipping stationary targeting! Our planning period starts on ts {self.game_state_to_base_planning['timestep']}") # REMOVE_FOR_COMPETITION
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6235: # Try moving! Run a simulation and find a course of action to put me to safety
6236: '''
6237: if other_ships_exist:
6238: if isinf(self.best_fitness_this_planning_period):
6239: # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
6240: search_iterations = 2
6241: elif self.best_fitness_this_planning_period > 0.9:
6242: search_iterations = 1
6243: elif self.best_fitness_this_planning_period > 0.8:
6244: search_iterations = 1
6245: elif self.best_fitness_this_planning_period > 0.7:
6246: search_iterations = 2
6247: elif self.best_fitness_this_planning_period > 0.6:
6248: search_iterations = 3
6249: elif self.best_fitness_this_planning_period > 0.5:
6250: search_iterations = 4
6251: elif self.best_fitness_this_planning_period > 0.4:
6252: search_iterations = 5
6253: else:
6254: search_iterations = 6
6255: else:
6256: if isinf(self.best_fitness_this_planning_period) and self.game_state_to_base_planning['ship_state'].bullets_remaining != 0:
6257: raise Exception("If there's no ships, why don't we have any sims this planning period yet? We should have done stationary first.")
6258: # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
6259: search_iterations = 2
6260: elif self.best_fitness_this_planning_period > 0.9:
6261: search_iterations = 1
6262: elif self.best_fitness_this_planning_period > 0.8:
6263: search_iterations = 1
6264: elif self.best_fitness_this_planning_period > 0.7:
6265: search_iterations = 2
6266: elif self.best_fitness_this_planning_period > 0.6:
6267: search_iterations = 3
6268: elif self.best_fitness_this_planning_period > 0.5:
6269: search_iterations = 4
6270: elif self.best_fitness_this_planning_period > 0.4:
6271: search_iterations = 5
6272: else:
6273: search_iterations = 6
6274: '''
6275:
6276: '''
6277: if iterations_boost:
6278: search_iterations = min(80, (search_iterations + 1)*10)
6279:
6280: if self.game_state_to_base_planning['ship_state'].lives_remaining == 1:
6281: # When down to our last life, try twice as hard to survive
6282: search_iterations *= 2
6283: elif self.game_state_to_base_planning['ship_state'].lives_remaining == 2:
6284: search_iterations = floor(search_iterations*1.5)
6285: '''
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6290:
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6292:
6293: # Let's just pretend the following is a fuzzy system lol
6294: # For performance and simplicity, I'll just use a bunch of if statements
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6296: # This is probably a wall scenario! We have many asteroids all travelling in basically the same direction
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6302: # We're probably within the radius of a mine we placed
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6309: #ship_cruise_speed_mode = NAN
6310: #ship_cruise_timesteps_mode = NAN
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6317: '''
6318: if nearby_asteroid_count > 15:
6319: # Many nearby asteroids
6320: if nearby_asteroid_average_speed > 100:
6321: # Fast asteroids
6322: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
6323: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.15
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6325: # Medium asteroids
6326: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.18
6327: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.1
6328: else:
6329: # Slow asteroids
6330: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.0
6331: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.0
6332: elif nearby_asteroid_count > 5:
6333: # Some nearby asteroids
6334: if nearby_asteroid_average_speed > 100:
6335: # Fast asteroids
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6337: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6338: elif nearby_asteroid_average_speed > 50:
6339: # Medium asteroids
6340: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
6341: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.28
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6343: # Slow asteroids
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6345: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.25
6346: else:
6347: # Few nearby asteroids
6348: if nearby_asteroid_average_speed > 100:
6349: # Fast asteroids
6350: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
6351: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6352: elif nearby_asteroid_average_speed > 50:
6353: # Medium asteroids
6354: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.37
6355: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6356: else:
6357: # Slow asteroids
6358: ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
6359: ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
6360: '''
6361: # print(f"Nearby asteroids count is {nearby_asteroid_count}, average speed of asts is {nearby_asteroid_average_speed}, avg directional speed is {average_directional_speed}, so therefore I'm picking ship cruise timesteps mode to be {ship_cruise_timesteps_mode} and ship speed mode of {ship_cruise_speed_mode}")
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6394: random_ship_heading_angle = random.triangular(-6.0*10.0, 6.0*10.0, 0)
6395: ship_accel_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)
6396: #random_ship_cruise_speed = random.uniform(-ship_max_speed, ship_max_speed)
6397: ship_cruise_speed = random.uniform(-SHIP_MAX_SPEED, SHIP_MAX_SPEED)#random.triangular(0, SHIP_MAX_SPEED, SHIP_MAX_SPEED)*(2.0*float(random.getrandbits(1)) - 1.0)
6398: ship_cruise_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)#random.uniform(-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)
6399: # TODO: For denser asteroid fields, decrease the max cruise seconds to encourage shorter maneuvers!
6400: #ship_cruise_timesteps = random.randint(1, round(max_cruise_seconds*FPS))
6401: ship_cruise_timesteps = floor(random.triangular(0.0, max_cruise_seconds*FPS, 0.0))
6402: '''
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6405: #print(f"\nDoing the move shenanigans")
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6421: # While evaluating, the simulation is advancing, and if it crashes, then it'll evaluate to false and stop the sim.
6422: #print(preview_move_sequence)
6423: #if maneuver_sim.get_sim_id() == 333:
6424: # print('\ncalling sim maneuver in plan maneuver')
+6425: if maneuver_sim.simulate_maneuver(preview_move_sequence, True, True):
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6426: # The ship went through all the steps without colliding
6427: #pre_fitness = maneuver_sim.get_fitness()
6428: #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
6429: #if maneuver_sim.get_sim_id() == 333:
6430: # print(f"After sim maneuver in plan maneuver, The ship went through all the steps without colliding and lasted {len(maneuver_sim.get_state_sequence())}")
6431: # maneuver_complete_without_crash = True
6432: pass
6433: else:
6434: # The ship crashed somewhere before reaching the final resting spot
6435: #pre_fitness = maneuver_sim.get_fitness()
6436: #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
6437: #if maneuver_sim.get_sim_id() == 333:
6438: # print(f"After sim maneuver in plan maneuver, The ship crashed somewhere before reaching the final resting spot and only lasted {len(maneuver_sim.get_state_sequence())}")
6439: # maneuver_complete_without_crash = False
+6440: pass
/*else*/ {
}
__pyx_L56:;
6441: # print(f"Maneuver completed without crash: {maneuver_complete_without_crash}")
+6442: maneuver_fitness = maneuver_sim.get_fitness()
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6443: #print(f"Maneuver fitness: {maneuver_fitness}, maneuver tuple: {random_ship_heading_angle=} {ship_cruise_speed=} {ship_accel_turn_rate=} {ship_cruise_timesteps=} {ship_cruise_turn_rate=}")
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6445: #post_fitness = maneuver_sim.get_fitness()
6446: #print(f"{pre_fitness=} {pre_fitness_breakdown=}, {maneuver_fitness=} {maneuver_fitness_breakdown=}, {post_fitness=}")
+6447: if len(self.sims_this_planning_period) == 0:
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+6448: if maneuver_sim.get_cancel_firing_first_timestep():
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6449: # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6450: assert self.game_state_to_base_planning['fire_next_timestep_flag'] # REMOVE_FOR_COMPETITION
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6452: '''
6453: global heuristic_fis_iterations
6454: global heuristic_fis_total_fitness
6455: global random_search_iterations
6456: global random_search_total_fitness
6457: if heuristic_maneuver:
6458: heuristic_fis_iterations += 1
6459: heuristic_fis_total_fitness += maneuver_fitness
6460: else:
6461: random_search_iterations += 1
6462: random_search_total_fitness += maneuver_fitness
6463: '''
6464:
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+6466: 'sim': maneuver_sim,
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+6467: 'fitness': maneuver_fitness,
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+6468: 'fitness_breakdown': maneuver_fitness_breakdown,
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6472: })
6473: # if heuristic_maneuver:
6474: # debug_print(f"Heuristic maneuver got fitness of {maneuver_fitness}")
6475: # debug_print(f"Planning random maneuver, and got fitness {maneuver_fitness}")
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+6511: debug_print("Neo probably crashed or something because the internal state is all messed up. Welp, let's try this again.")
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/* … */
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6517: # Only do these on the first timestep
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+6522: self.finish_init(game_state, ship_state)
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+6524: self.performance_controller_enter()
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+6527: iterations_boost = True
__pyx_v_iterations_boost = 1;
+6528: if self.other_ships_exist:
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6529: # We cannot use deterministic mode to plan ahead
6530: # We can still try to plan ahead, but we need to compare the predicted state with the actual state
6531: # Note that if the other ship dies, then we will switch from this case to the case where other ships don't exist
6532:
6533: # Since other ships exist right now and the game isn't deterministic, we can die at any time even during the middle of a planned maneuver where we SHOULD survive.
6534: # Or maybe we planned to die at the end of the maneuver, but we died in the middle instead. That's a sneaky case that's possible too. Handle all of these!
6535: # Check for that case:
+6536: unexpected_death = False
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6537: # If we're dead/respawning but we didn't plan a respawn maneuver for it, OR if we do expect to die at the end of the maneuver, however we actually died mid-maneuver
6538: #print(f"{ship_state.is_respawning=}, ts: {self.current_timestep}, Action queue length: {len(self.action_queue)}")
6539: # Originally I thought it'd be a necessary condition to check (not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) however WE DO NOT want to check that the last timestep we weren't respawning!
6540: # Because a sneaky edge case is, what if we did a respawn maneuver, and then we began to shoot in the middle of the respawn maneuver RIGHT AS the other ship is inside of us? Then we stay in the respawning state without ever getting out of it, but we just lose a life. Losing a life is the main thing we need to check for! And yes, this is an edge case I experienced and spent an hour tracking down.
+6541: if (ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) or (self.action_queue and not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for):
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+6542: print_explanation(f"Ouch, I died in the middle of a maneuver where I expected to survive, due to other ships being present!", self.current_timestep)
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6543: #debug_print(f"I have {ship_state.lives_remaining} lives left, and here's the set of lives left we did respawn maneuvers for: {self.lives_remaining_that_we_did_respawn_maneuver_for}") # REMOVE_FOR_COMPETITION
6544: # Clear the move queue, since previous moves have been invalidated by us taking damage
+6545: self.action_queue.clear()
__pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_v_self, __pyx_mstate_global->__pyx_n_u_action_queue); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 6545, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_3); __pyx_t_5 = __pyx_t_3; __Pyx_INCREF(__pyx_t_5); __pyx_t_6 = 0; { PyObject *__pyx_callargs[2] = {__pyx_t_5, NULL}; __pyx_t_4 = __Pyx_PyObject_FastCallMethod(__pyx_mstate_global->__pyx_n_u_clear, __pyx_callargs+__pyx_t_6, (1-__pyx_t_6) | (1*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)); __Pyx_XDECREF(__pyx_t_5); __pyx_t_5 = 0; __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0; if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 6545, __pyx_L1_error) __Pyx_GOTREF(__pyx_t_4); } __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
+6546: self.actioned_timesteps.clear() # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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+6547: self.fire_next_timestep_flag = False # If we were planning on shooting this timestep but we unexpectedly got hit, DO NOT SHOOT! Actually even if we didn't reset this variable here, we'd only shoot after the respawn maneuver is done and then we'd miss a shot. And yes that was a bug that I fixed lmao
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6548: # self.game_state_to_base_planning = None
+6549: self.sims_this_planning_period.clear()
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+6551: self.best_fitness_this_planning_period = -INFINITY
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+6554: self.base_gamestate_analysis = None
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+6555: unexpected_death = True
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+6557: if ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for:
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6558: # We expected to die at the end of the maneuver, however we actually died mid-maneuver, so we have to revoke the respawn maneuver we had planned, and plan a new one.
6559: # Removing the life remaining number from this set will allow us to plan a new maneuver for this number of lives remaining
6560: #debug_print("GOTCHA, this life remaining shouldn't be in here! Yoink!") # REMOVE_FOR_COMPETITION
+6561: self.lives_remaining_that_we_did_respawn_maneuver_for.remove(ship_state.lives_remaining)
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6563: # If we're alive at the end of a maneuver but we're expecting to be dead at the end of the maneuver and we've planned a respawn maneuver
6564: #if self.game_state_to_base_planning is not None:
6565: # print(f"Checking for unexpected survival: {ship_state.is_respawning=} {self.game_state_to_base_planning['ship_state'].is_respawning=} {self.game_state_to_base_planning['respawning']=}")
+6566: if not self.action_queue and self.game_state_to_base_planning is not None and not ship_state.is_respawning and self.game_state_to_base_planning['ship_state'].is_respawning and self.game_state_to_base_planning['respawning']:
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6567: # We thought this maneuver would end in us dying, with the next move being a respawn maneuver. However this is not the case. We're alive at the end of the maneuver! This must be because the other ship saved us by shooting an asteroid that was going to hit us, or something.
6568: # This assertion isn't true because we could be doing a respawn maneuver, dying, and doing another respawn maneuver!
6569: # assert not self.last_timestep_ship_is_respawning
+6570: print_explanation(f"\nI thought I would die, but the other ship saved me!!!", self.current_timestep)
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__Pyx_GetModuleGlobalName(__pyx_t_1, __pyx_mstate_global->__pyx_n_u_print_explanation); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 6570, __pyx_L1_error)
__Pyx_GOTREF(__pyx_t_1);
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{
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6571: # Clear the move queue, since previous moves have been invalidated by us taking damage
+6572: self.action_queue.clear()
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+6573: self.actioned_timesteps.clear() # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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6575: # self.game_state_to_base_planning = None
+6576: self.sims_this_planning_period.clear()
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+6578: self.best_fitness_this_planning_period = -INFINITY
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+6579: self.second_best_fitness_this_planning_period_index = INT_NEG_INF
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+6580: self.second_best_fitness_this_planning_period = -INFINITY
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+6582: iterations_boost = True
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6584: # Yoink this life remaining from the respawn maneuvers, since we no longer are doing one
+6585: if (ship_state.lives_remaining - 1) in self.lives_remaining_that_we_did_respawn_maneuver_for:
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6586: # We need to subtract one from the lives remaining, because when we added it, it was from a simulated ship that had one fewer life. In reality we never lost that life, so we subtract one from our actual lives.
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6665: # debug_print('REFRESHING BASE STATE FOR STATIONARY ON TS', self.current_timestep)
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6669: # We're not respawning but the ship respawn timer is non-zero, so we're gonna fix this and make it consistent!
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+6748: assert success # REMOVE_FOR_COMPETITION
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6749:
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6755: #thrust, turn_rate, fire, drop_mine = 0.0, 0.0, False, False
6756:
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6758:
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6768: #self.reality_move_sequence.append({'thrust': thrust, 'turn_rate': turn_rate, 'fire': fire, 'drop_mine': drop_mine}) # REMOVE_FOR_COMPETITION
6769: # debug_print(self.reality_move_sequence) # REMOVE_FOR_COMPETITION
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6772:
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__Pyx_INCREF(__pyx_builtin_print);
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+6816: raise Exception("Ship states don't match!") # REMOVE_FOR_COMPETITION
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6817: #self.reality_move_sequence.append({'thrust': thrust, 'turn_rate': turn_rate, 'fire': fire, 'drop_mine': drop_mine}) # REMOVE_FOR_COMPETITION
6818: #print(f"TS: {self.current_timestep}, Thrust: {thrust}, Turn Rate: {turn_rate}, Fire: {fire}, Drop Mine: {drop_mine}") # REMOVE_FOR_COMPETITION
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6822:
6823:
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+6825: print("This is a Kessler controller meant to be imported, and not run directly!")
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